U.S. patent application number 12/801809 was filed with the patent office on 2011-03-17 for self contained powered exoskeleton walker for a disabled user.
Invention is credited to Robert Alexander Irving, Richard Little.
Application Number | 20110066088 12/801809 |
Document ID | / |
Family ID | 40801717 |
Filed Date | 2011-03-17 |
United States Patent
Application |
20110066088 |
Kind Code |
A1 |
Little; Richard ; et
al. |
March 17, 2011 |
Self contained powered exoskeleton walker for a disabled user
Abstract
A walker by a mobility impaired disabled user while moving
through a set of movements correlating to a walking motion. The
walker comprises an exoskeleton, a power source in the form of a
battery pack or other similar onboard power pack together with its
associated power supply cables, and a control system The
exoskeleton comprises a rigid pelvic support member including a
pelvic harness and a pair of leg structures Each of the leg
structures comprise an upper leg structural member, a lower leg
structural member, a foot member, a main hip actuator, a knee
actuator and a main foot actuator.
Inventors: |
Little; Richard; (North
Shore City, NZ) ; Irving; Robert Alexander; (Manukau,
NZ) |
Family ID: |
40801717 |
Appl. No.: |
12/801809 |
Filed: |
June 25, 2010 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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PCT/NZ08/00351 |
Dec 24, 2008 |
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12801809 |
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Current U.S.
Class: |
601/35 |
Current CPC
Class: |
A61H 2201/1676 20130101;
A61H 1/0266 20130101; A61F 2002/701 20130101; A61F 2/72 20130101;
A61H 2201/163 20130101; A61H 2201/1621 20130101; A61H 2201/164
20130101; A61H 2201/5058 20130101; A61H 2201/1215 20130101; A61H
3/00 20130101; B25J 9/0006 20130101; A61H 3/008 20130101; A61H
1/0255 20130101; A61H 2201/1635 20130101; A61H 2201/165 20130101;
A61H 2201/1642 20130101 |
Class at
Publication: |
601/35 |
International
Class: |
A61H 1/02 20060101
A61H001/02 |
Claims
1. A self contained powered exoskeleton walker for a disabled user
that at least substitutes fully disabled functions of a user
required for walking, said walker comprising: i) an exoskeleton
comprising: a. a rigid pelvic support member carrying a user
securing arrangement for securely fastening a user to at least the
pelvic support member and to vertically support said user relative
to said exoskeleton, b. a first leg structure and a second leg
structure, each of the first leg structure and the second leg
structure being coupled to and extending from said pelvic support
member for operational location adjacent a respective leg of a
user, each of the first leg structure and second leg structure
comprising an upper leg structural member for engagement with the
upper leg of the user, the upper leg structural member being
pivotally engaged at a first end thereof to the pelvic support
member by a hip joint, wherein the hip joint is configured for
facilitating the multi axis rotational movement of said upper leg
structural member relative to said pelvic support member (i)
towards and way from the coronal plane of the body of the user and
(ii) toward and away from the sagittal plane of the body of the
user for adduction and abduction; a lower leg structural member for
engagement with the lower leg of the user, the lower leg structural
member being pivotally engaged at a first end thereof to a second
end of the upper leg structural member by a knee joint, a foot
member for engagement with the foot of a user, the foot member
being pivotally engaged to a second end of the lower leg member by
a foot joint, a main hip actuator configured for actuating pivotal
movement of said upper leg structural member relative to said
pelvic support member about said hip joint, to in use pivot the
upper leg structural member towards and away from the coronal plane
of the body of the user, a secondary hip actuator, configured for
actuating pivotal movement of said upper leg structural member
relative the pelvic support member about said hip joint towards and
away from the sagittal plane of the body of the user for adduction
and abduction, a knee actuator configured for actuating pivotal
movement of said lower leg structural member relative said upper
leg structural member about said knee joint, a main foot actuator
configured for actuating pivotal movement of said foot member
relative said lower leg structural member about said foot joint
about an axis of rotation substantially parallel to the axis of
rotation of the knee joint; ii) a power source configurable for
providing power to at least one or more selected from said main hip
actuators, knee actuators, and main foot actuators, iii) a control
system configurable for controlling movement of at least one or
more selected from said main hip actuators, knee actuators, and
main foot actuators, thereby to move the exoskeleton relative to
the ground on which the walking aid is positioned, for at least the
purposes of effecting a walking motion to said user.
2. A walker as claimed in claim 1 wherein said secondary hip
actuator is configured for actuating said pivotal movement of said
upper leg structural member to either side of a plane parallel to
the sagittal plane and passing through said hip joint and
preferably in a range of about ten degrees each side.
3. A walker as claimed in claim 1 wherein said hip joint is one
selected from a rose joint, universal joint or ball and socket
joint, configured for facilitating the multi axis rotational
capability of said upper leg structural member relative to said
pelvic support member. Preferably said walker is configured to at
least partially prevent pivoting movement of the upper leg
structural member about its longitudinal axis.
4. A walker as claimed in claim 1 wherein pivotal movement of the
upper leg structural member towards and way from the coronal plane
of the body of the user is about an axis of rotation extending
downwardly away from said sagittal plane at an angle of between 1
and 6 degrees and preferably 4 degrees to the transverse plane.
5. A walker as claimed in claim 1, wherein the knee joint is offset
rearwardly from the upper leg structural member to align
substantially with an axis of rotation of a user's knee in
operation.
6. A walker as claimed in claim 1 wherein the knee joint is a
polycentric knee joint.
7. A walker as claimed in claim 1 wherein said foot joint is a rose
joint, a universal joint or ball and socket joint, configured for
facilitating the multi axis rotational capability of said foot
member relative said lower leg structural member.
8. A walker as claimed in claim 1, wherein said exoskeleton
comprises, for each of the first leg structure and second leg
structure, a secondary foot actuator, configured for actuating
rotation of said foot member in towards and away from said sagittal
plane about said foot joint.
9. A walking aid as claimed in claim 1, wherein each foot joint is
configured with its axis of rotation about the anterior/posterior
plane extending downwardly in a lateral direction at an angle of
between zero and 6 degrees.
10. A walking aid as claimed in claim 9, wherein pivotal movement
of the foot member towards and way from the coronal plane of the
body of the user is about an axis of rotation extending downwardly
away from said sagittal plane at an angle of between 1 and 6
degrees and preferably 4 degrees to the transverse plane.
11. A walker as claimed in claim 1 wherein each of said upper leg
structural member and lower leg structural member include a
fastener to fasten to the legs of a user.
12. A walker as claimed in claim 11 wherein each said fastener
comprise an orthotic device affixed to a said upper leg structural
member and lower leg structural member and that is shaped to
receive the rear part of the users legs and a strap to hold said
leg to said orthotic device. Preferably said fasteners comprises an
adjustable webbing or strapping for securing at least partially
about a user's leg. Preferably said adjustable webbing includes an
adjustable fastening arrangement.
13. A walker as claimed in claim 1 wherein each of said upper leg
structural members has engaged thereto an upper leg orthotic device
to facilitate the upper leg of a user, in use, being rigidly held
relative a respective said upper leg structural member and wherein
each said lower leg structural member has engaged thereto a lower
leg orthotic device to facilitate the lower leg of a user, in use,
being rigidly held relative a respective said lower leg structural
member.
14. A walker as claimed in claim 13 wherein each of said upper leg
orthotic devices each carry at least one strap to secure said upper
leg to said orthotic device and each said lower leg orthotic device
carries at least one strap to secure said lower leg to said
orthotic device.
15. A walker as claimed in claim 13 wherein said orthotic devices
are C-shaped, and said pelvic support member is substantially
C-shaped and presented to allow engagement of the exoskeleton with
a person by relative movement in a direction normal to the coronal
plane.
16. A walker as claimed in claim 1 wherein the length of each upper
leg structural members can be varied to vary the distance between
the hip joint and knee joint.
17. A walker as claimed in claim 1 wherein each said upper leg
structural member comprises at least two parts that are movable
relative each other to extend and contract the effective length of
the upper leg structural member.
18. A walker as claimed in claim 17 wherein the two parts of said
upper leg structural member are, by virtue of (a) a threaded
relationship, (b) a telescopic relationship or (c) sliding
relationship to each other, adjustable in length.
19. A walker as claimed in claim 1 wherein the upper leg structural
member is configured for removably receiving an upper leg
lengthening insert to allow an extending and contracting of the
effective length of the upper leg structural member.
20. A walker as claimed in claim 19 wherein the upper leg
lengthening insert is securable to the upper leg structural member
by one or more selected from a thread formation, a bayonet-type
formation, a snap fit formation, or the like.
21. A walker claimed in claim 1 wherein the length of each lower
leg structural members can be varied to vary the distance between
the foot joint and knee joint.
22. A walker as claimed in claim 1 wherein each said lower leg
structural member comprises at least two parts that are movable
relative each other to extend and contract the effective length of
the lower leg structural member.
23. A walker as claimed in claim 22 wherein the two parts of said
lower leg structural member are, by virtue of (a) a threaded
relationship, (b) a telescopic relationship or (c) sliding
relationship to each other, adjustable in length.
24. A walker as claimed in claim 1 wherein the lower leg structural
member is configured for removably receiving a lower leg
lengthening insert to allow an extending and contracting of the
effective length of the lower leg structural member.
25. A walker as claimed in claim 24 wherein the lower leg
lengthening insert is securable to the lower leg structural member
by one or more selected from a thread formation, a bayonet-type
formation, a snap fit formation, or the like.
26. A walker as claimed in claim 1 wherein a user is fully
supported by a user securing arrangement at or towards the pelvic
region of the user, so that that the user's legs do not support the
weight of the user.
27. A walker as claimed in claim 26 wherein the user securing
arrangement includes one or more selected from i) a pelvic harness
suitable for securing a user's pelvis to the pelvic support member;
ii) a packing arrangement for snugly fitting a user's hips against
the pelvic support member; and iii) a fastener arrangement for
securing each of the user's legs to an associated leg structure.
Preferably the packing arrangement is an inflatable pressure
vessel. Preferably the packing arrangement is at least one foam
cushion.
28. A walker as claimed in claim 27 wherein said exoskeleton
includes a torso support that, in use engages to a user above said
user securing arrangement.
29. A walker as claimed in claim 28 wherein the torso support is
secured to said rigid pelvic support member and includes a rigid
member extending upward from said rigid pelvic support member and
at least one fastener (preferably a fastener strap) to capture the
torso of the user to or toward the rigid member.
30. A walker as claimed in claim 1 wherein the user is suspended
from the rigid pelvic support member by a pelvic harness.
31. A walker as claimed in claim 30 wherein said pelvic harness is
affixed to said pelvic support member.
32. A walker as claimed in claim 31 wherein said pelvic harness
includes two thigh traps, one for each thigh of the user and to
locate about each tight in a snug manner, each said thigh strap
including a take-off strap via which an upward support force can be
applied to the thigh that is carried by the pelvic support
member.
33. A walker as claimed in claim 31 wherein said take-off strap
projects in use upwardly from said thigh strap at a side of the
thigh of the user that is opposite to the sagittal plane of the
user in order to provide an upwards support force to the thigh of
the user that discourages the thigh strap from migrating up into
the crutch of the user.
34. A walker as claimed in claim 30 wherein said pelvic harness
comprises a buttock cradle that includes two straps, one to locate
against the buttocks of a user at a lower region thereof and one to
locate against the buttocks of a user at a higher more region
thereof.
35. A walker as claimed in claim 34 wherein said two buttock straps
are affixed to at least two suspension straps that are connected to
said pelvic support harness and via which at least some of the
weight of the person carried by said pelvic harness can be
transferred to said pelvic support member.
36. A walker as claimed in claim 30 wherein the pelvic harness
includes a waist strap that locates at least partly around the hips
or waist of a user and is connected to said pelvic support member
to hold said user relative to said pelvic support member and
restrict movement of the user in a direction towards and way from
the coronal plane relative to said pelvic support member.
37. A walker as claimed in claim 1 wherein said pelvic support
member includes a C-shaped user interface surface that is presented
to locate predominantly about the posterior side of the hip and/or
waist region of the user.
38. A walkers as claimed in claim 37 wherein said user interface
projects to be located at least part of each side of said user
also.
39. A walker as claimed in claim 37 wherein a pelvic harness is
suspended from said pelvic support member, said pelvic harness to
locate about the user in a manner to vertically support said user,
wherein said pelvic harness includes at least one pocket that can
removably receive a packer of an appropriate shape and size to
provide packing intermediate of said user and said pelvic support
member.
40. A walker as claimed in claim 39 wherein the user interface
surface is shaped to snugly locate adjacent the user and said
packers can fill space between said user and said user
interface.
41. A walker as claimed in claim 1 wherein a plurality of sensors
are provided for providing information to the control system for
facilitating the control of movement of the exoskeleton.
42. A walker as claimed in claim 41 wherein the plurality of
sensors are configured for sensing a characteristic to be sensed,
and generating a signal indicative of that characteristic, and
transmitting the signal to the control system for facilitating the
control of movement of the exoskeleton.
43. A walking aid as claimed in claim 40 wherein said sensors are
selected from at least one of: i) an accelerometer to measure the
acceleration of at least one or more selected from said pelvic
support member, the upper leg structural members, the lower leg
structural members and the foot members, ii) an inclinometer to
measure the inclination of at least one or more selected from said
pelvic support member, the upper leg structural members, the lower
leg structural members and the foot members, iii) distance sensors
configured for determining the slope of the ground anteriorly,
posteriorly and laterally of the walking aid, iv) pressure sensors
disposed on the foot member to determine the pressure being applied
by the foot member to the ground, and v) position sensors for
determining the position and velocity of the actuators.
44. A walker as claimed in claim 1 wherein said controller includes
a gyroscope configured for defining a reference frame for the
purposes of positional control of the or part of the
exoskeleton.
45. A walker as claimed in claim 1 wherein said walker includes a
human interface device that preferably includes at least one of a
joystick and a keypad.
46. A walker as claimed in claim 1 wherein the exoskeleton is
configurable into a sitting position for facilitating the transfer
of a user to and from the walker, said exoskeleton comprising
support surfaces configured and dimensioned to be engageable by a
user for facilitating transfer of the user to and/or from the
walker when in the sitting position.
47. A walker as claimed in claim 46 wherein the support surfaces
are hand holds configured to extend substantially horizontally when
the walker is in the sitting position. Preferably the support
surfaces are defined by covers that cover at least part of the
exoskeleton.
48. An exoskeleton device worn by a paraplegic user for device
controlled walking of the user, said exoskeleton device comprising:
a. a rigid pelvic support member carrying a user securing
arrangement to engage with the user at their pelvis to vertically
support the user relative to said exoskeleton, b. a first leg
structure and a second leg structure, each of the first leg
structure and the second leg structure being coupled to and
extending from said pelvic support member for operational location
adjacent a respective leg of a user, each of the first leg
structure and second leg structure comprising an upper leg
structural member for engagement with the upper leg of the user,
the upper leg structural member being pivotally engaged at a first
end thereof to the pelvic support member by a hip joint, wherein
the hip joint is configured for facilitating the multi axis
rotational movement of said upper leg structural member relative to
said pelvic support member towards and way from the coronal plane
of the body of the user; a lower leg structural member for
engagement with the lower leg of the user, the lower leg structural
member being pivotally engaged at a first end thereof to a second
end of the upper leg structural member by a knee joint, a foot
member for engagement with the foot of a user, the foot member
being pivotally engaged to a second end of the lower leg member by
a foot joint, a main hip actuator configured for actuating pivotal
movement of said upper leg structural member relative to said
pelvic support member about said hip joint, to in use pivot the
upper leg structural member towards and away from the coronal plane
of the body of the user, a knee actuator configured for actuating
pivotal movement of said lower leg structural member relative said
upper leg structural member about said knee joint, a main foot
actuator configured for actuating pivotal movement of said foot
member relative said lower leg structural member about said foot
joint about an axis of rotation substantially parallel to the axis
of rotation of the knee joint;
49. An exoskeleton device as claimed in claim 47 wherein said
exoskeleton comprises a power source configurable for providing
power to at least one or more selected from said main hip
actuators, knee actuators, and main foot actuators.
50. An exoskeleton device as claimed in claim 47 wherein the
exoskeleton device is worn by a paraplegic user for device
controlled and user specified walking motion.
51. An exoskeleton device as claimed in claim 47 wherein user
securing arrangement vertically supports all of the user relative
to said exoskeleton. Preferably the hip joint is configured for
facilitating the multi axis rotational movement of said upper leg
structural member relative to said pelvic support member toward and
away from the sagittal plane of the body of the user for adduction
and abduction and a secondary hip actuator is provided, configured
for actuating pivotal movement of said upper leg structural member
relative the pelvic support member about said hip joint towards and
away from the sagittal plane of the body of the user for adduction
and abduction. Preferably a power source is provided configurable
for providing power to at least one or more selected from said main
hip actuators, knee actuators, and main foot actuators, Preferably
a control system is provided configurable for controlling movement
of at least one or more selected from said main hip actuators, knee
actuators, and main foot actuators, thereby to move the exoskeleton
relative to the ground on which the walking aid is positioned, for
at least the purposes of effecting a walking motion to said
user.
52. An exoskeleton suitable for a walking aid or a medical device,
said exoskeleton comprising: i) a rigid pelvic support member
suitable for snug engagement with a user's hips operationally ii) a
user securing arrangement to securely fastening a user at least to
the pelvic support member to support said user operationally; iii)
a first leg structure and a second leg structure, each of the first
leg structure and the second leg structure being coupled to and
extending from said pelvic support member for operational location
adjacent a respective leg of a user, each of the first leg
structure and second leg structure comprising a. an upper leg
structural member for engagement with the upper leg of the user,
the upper leg structural member being pivotally engaged at a first
end thereof to the pelvic support member by a hip joint wherein the
hip joint is configured for facilitating the multi axis rotational
capability of said upper leg structural member relative to said
pelvic support member for movement towards and away from the
coronal plane and for abduction b. a lower leg structural member
for engagement with the lower leg of the user, the lower leg
structural member being pivotally engaged at a first end thereof to
a second end of the upper leg structural member by a knee joint, c.
a foot member for engagement with the foot of a user, the foot
member being pivotally engaged to a second end of the lower leg
member by a foot joint, d. a main hip actuator configured for
actuating rotation of said upper leg structural member relative to
said pelvic support member about said hip joint, to in use pivot
the upper leg structural member towards and away from the coronal
plane, e. a secondary hip actuator, configured for actuating
rotation of said upper leg structural member for adduction or
abduction about said pelvic support member, f. a knee actuator
configured for actuating rotation of said lower leg structural
member relative said upper leg structural member about said knee
joint, and g. a main foot actuator configured for actuating
rotation of said foot member relative said lower leg structural
member about said foot joint about an axis of rotation
substantially parallel to the axis of rotation of the knee
joint.
53. An exoskeleton as claimed in claim 52, wherein the user
securing arrangement includes i) a pelvic harness securable about a
user's pelvis and affixed to the pelvic support member to suspend
the user thereby, and ii) securing fasteners suitable for securing
a user's legs to the leg structures operationally.
54. An exoskeleton as claimed in claim 52 wherein the knee joint is
a polycentric knee joint.
55. An exoskeleton as claimed in claim 52 wherein the exoskeleton
is a gait vehicle to carry a bipedal locomotion disabled user.
Description
[0001] This is a Continuation-in-Part of PCT/NZ08/000,351 filed
Dec. 24, 2008 and published in English, claiming benefit of U.S.
provisional application No. 61/006,136, filed Dec. 26, 2007, hereby
incorporated by reference.
FIELD OF INVENTION
[0002] The present invention relates to a self contained powered
exoskeleton walker for a disabled user that at least substitutes
fully disabled functions of a user required for walking. In
particular but not solely the present invention relates to a
robotic exoskeleton that a paraplegic person is fully supportable
by, in an upright condition to effect a walking gait.
BACKGROUND
[0003] During a walking stride by a non disabled person, the centre
of mass of their body weight tends to move loosely between being
almost directly above one foot, to being above the other foot, in a
side to side reciprocating movement of their body weight. This side
to side reciprocation of the body weight is minimised by having the
feet extend inwardly to almost directly beneath the person's hips,
to allow a smoother walking motion. Whatever instability a non
disabled person has during walking may be made up for by the speed
of reaction and stabilising input of other muscles such as
abdominal and back muscles.
[0004] A walking gait disabled person such as a paraplegic person,
does not have the ability to walk. They may be wheel chair bound
and sedentary for much of the time. Lack of movement of the legs of
a paraplegic person is known to cause a number of complications.
Many are spinal injured and hence together with muscle wastage and
lack of circulation in the limbs and abdomen due to being seated,
complications arise. These can include skin problems such as
pressure sores, bladder infections, deep vein thrombosis and
contracture. Limb movement is one way by which complications can be
avoided or their instances reduced. For example, circulation can be
improved by the person being in a standing position. Applying some
pressure to a person's bones by virtue of being in a standing
position and allowing their legs to receive some of their
bodyweight is also beneficial.
[0005] Accordingly it is an object of the present invention to
provide a self contained powered exoskeleton walker for a disabled
user that at least substitutes fully disabled functions of a user
required for walking that overcomes the abovementioned shortfalls
and/or that will at least provide the public with a useful
choice.
BRIEF DESCRIPTION OF THE INVENTION
[0006] According to one aspect, the invention may be said to
broadly be said to be a self contained powered exoskeleton walker
for a disabled user that at least substitutes fully disabled
functions of a user required for walking, said walker comprising:
[0007] i) an exoskeleton comprising: [0008] a. a rigid pelvic
support member carrying a user securing arrangement for securely
fastening a user to at least the pelvic support member and to
vertically support said user relative to said exoskeleton, [0009]
b. a first leg structure and a second leg structure, each of the
first leg structure and the second leg structure being coupled to
and extending from said pelvic support member for operational
location adjacent a respective leg of a user, each of the first leg
structure and second leg structure comprising [0010] an upper leg
structural member for engagement with the upper leg of the user,
the upper leg structural member being pivotally engaged at a first
end thereof to the pelvic support member by a hip joint, wherein
the hip joint is configured for facilitating the multi axis
rotational movement of said upper leg structural member relative to
said pelvic support member (i) towards and way from the coronal
plane of the body of the user and (ii) toward and away from the
sagittal plane of the body of the user for adduction and abduction;
[0011] a lower leg structural member for engagement with the lower
leg of the user, the lower leg structural member being pivotally
engaged at a first end thereof to a second end of the upper leg
structural member by a knee joint, [0012] a foot member for
engagement with the foot of a user, the foot member being pivotally
engaged to a second end of the lower leg member by a foot joint,
[0013] a main hip actuator configured for actuating pivotal
movement of said upper leg structural member relative to said
pelvic support member about said hip joint, to in use pivot the
upper leg structural member towards and away from the coronal plane
of the body of the user, [0014] a secondary hip actuator,
configured for actuating pivotal movement of said upper leg
structural member relative the pelvic support member about said hip
joint towards and away from the sagittal plane of the body of the
user for adduction and abduction, [0015] a knee actuator configured
for actuating pivotal movement of said lower leg structural member
relative said upper leg structural member about said knee joint,
[0016] a main foot actuator configured for actuating pivotal
movement of said foot member relative said lower leg structural
member about said foot joint about an axis of rotation
substantially parallel to the axis of rotation of the knee joint;
[0017] ii) a power source configurable for providing power to at
least one or more selected from said main hip actuators, knee
actuators, and main foot actuators, [0018] iii) a control system
configurable for controlling movement of at least one or more
selected from said main hip actuators, knee actuators, and main
foot actuators, thereby to move the exoskeleton relative to the
ground on which the walking aid is positioned, for at least the
purposes of effecting a walking motion to said user.
[0019] Preferably said secondary hip actuator is configured for
actuating said pivotal movement of said upper leg structural member
to either side of a plane parallel to the sagittal plane and
passing through said hip joint and preferably in a range of about
ten degrees each side.
[0020] Preferably said hip joint is one selected from a rose joint,
universal joint or ball and socket joint, configured for
facilitating the multi axis rotational capability of said upper leg
structural member relative to said pelvic support member.
[0021] Preferably said walker is configured to at least partially
prevent pivoting movement of the upper leg structural member about
its longitudinal axis.
[0022] Preferably pivotal movement of the upper leg structural
member towards and way from the coronal plane of the body of the
user is about an axis of rotation extending downwardly away from
said sagittal plane at an angle of between 1 and 6 degrees and
preferably 4 degrees to the transverse plane.
[0023] Preferably the knee joint is offset rearwardly from the
upper leg structural member to align substantially with an axis of
rotation of a user's knee in operation.
[0024] Preferably the knee joint is a polycentric knee joint.
[0025] Preferably said foot joint is a rose joint, a universal
joint or ball and socket joint, configured for facilitating the
multi axis rotational capability of said foot member relative said
lower leg structural member.
[0026] Preferably said exoskeleton comprises, for each of the first
leg structure and second leg structure, a secondary foot actuator,
configured for actuating rotation of said foot member in towards
and away from said sagittal plane about said foot joint.
[0027] Preferably each foot joint is configured with its axis of
rotation about the anterior/posterior plane extending downwardly in
a lateral direction at an angle of between zero and 6 degrees.
[0028] Preferably pivotal movement of the foot member towards and
way from the coronal plane of the body of the user is about an axis
of rotation extending downwardly away from said sagittal plane at
an angle of between 1 and 6 degrees and preferably 4 degrees to the
transverse plane.
[0029] Preferably each of said upper leg structural member and
lower leg structural member include a fastener to fasten to the
legs of a user.
[0030] Preferably each said fastener comprise an orthotic device
affixed to a said upper leg structural member and lower leg
structural member and that is shaped to receive the rear part of
the users legs and a strap to hold said leg to said orthotic
device.
[0031] Preferably said fasteners comprises an adjustable webbing or
strapping for securing at least partially about a user's leg.
[0032] Preferably said adjustable webbing includes an adjustable
fastening arrangement.
[0033] Preferably each of said upper leg structural members has
engaged thereto an upper leg orthotic device to facilitate the
upper leg of a user, in use, being rigidly held relative a
respective said upper leg structural member and wherein each said
lower leg structural member has engaged thereto a lower leg
orthotic device to facilitate the lower leg of a user, in use,
being rigidly held relative a respective said lower leg structural
member.
[0034] Preferably each of said upper leg orthotic devices each
carry at least one strap to secure said upper leg to said orthotic
device and each said lower leg orthotic device carries at least one
strap to secure said lower leg to said orthotic device.
[0035] Preferably said orthotic devices are C-shaped, and said
pelvic support member is substantially C-shaped and presented to
allow engagement of the exoskeleton with a person by relative
movement in a direction normal to the coronal plane.
[0036] Preferably the length of each upper leg structural members
can be varied to vary the distance between the hip joint and knee
joint.
[0037] Preferably each said upper leg structural member comprises
at least two parts that are movable relative each other to extend
and contract the effective length of the upper leg structural
member.
[0038] Preferably the two parts of said upper leg structural member
are, by virtue of (a) a threaded relationship, (b) a telescopic
relationship or (c) sliding relationship to each other, adjustable
in length.
[0039] Preferably the upper leg structural member is configured for
removably receiving an upper leg lengthening insert to allow an
extending and contracting of the effective length of the upper leg
structural member.
[0040] Preferably the upper leg lengthening insert is securable to
the upper leg structural member by one or more selected from a
thread formation, a bayonet-type formation, a snap fit formation,
or the like.
[0041] Preferably the length of each lower leg structural members
can be varied to vary the distance between the foot joint and knee
joint.
[0042] Preferably each said lower leg structural member comprises
at least two parts that are movable relative each other to extend
and contract the effective length of the lower leg structural
member.
[0043] Preferably the two parts of said lower leg structural member
are, by virtue of (a) a threaded relationship, (b) a telescopic
relationship or (c) sliding relationship to each other, adjustable
in length.
[0044] Preferably the lower leg structural member is configured for
removably receiving a lower leg lengthening insert to allow an
extending and contracting of the effective length of the lower leg
structural member.
[0045] Preferably the lower leg lengthening insert is securable to
the lower leg structural member by one or more selected from a
thread formation, a bayonet-type formation, a snap fit formation,
or the like.
[0046] Preferably a user is fully supported by a user securing
arrangement at or towards the pelvic region of the user, so that
that the user's legs do not support the weight of the user.
[0047] Preferably the user securing arrangement includes one or
more selected from [0048] i) a pelvic harness suitable for securing
a user's pelvis to the pelvic support member; [0049] ii) a packing
arrangement for snugly fitting a user's hips against the pelvic
support member; and [0050] iii) a fastener arrangement for securing
each of the user's legs to an associated leg structure.
[0051] Preferably the packing arrangement is an inflatable pressure
vessel.
[0052] Preferably the packing arrangement is at least one foam
cushion.
[0053] Preferably said exoskeleton includes a torso support that,
in use engages to a user above said user securing arrangement.
[0054] Preferably the torso support is secured to said rigid pelvic
support member and includes a rigid member extending upward from
said rigid pelvic support member and at least one fastener
(preferably a fastener strap) to capture the torso of the user to
or toward the rigid member.
[0055] Preferably the user is suspended from the rigid pelvic
support member by a pelvic harness.
[0056] Preferably said pelvic harness is affixed to said pelvic
support member.
[0057] Preferably said pelvic harness includes two thigh traps, one
for each thigh of the user and to locate about each tight in a snug
manner, each said thigh strap including a take-off strap via which
an upward support force can be applied to the thigh that is carried
by the pelvic support member.
[0058] Preferably said take-off strap projects in use upwardly from
said thigh strap at a side of the thigh of the user that is
opposite to the sagittal plane of the user in order to provide an
upwards support force to the thigh of the user that discourages the
thigh strap from migrating up into the crutch of the user.
[0059] Preferably said pelvic harness comprises a buttock cradle
that includes two straps, one to locate against the buttocks of a
user at a lower region thereof and one to locate against the
buttocks of a user at a higher more region thereof.
[0060] Preferably said two buttock straps are affixed to at least
two suspension straps that are connected to said pelvic support
harness and via which at least some of the weight of the person
carried by said pelvic harness can be transferred to said pelvic
support member.
[0061] Preferably the pelvic harness includes a waist strap that
locates at least partly around the hips or waist of a user and is
connected to said pelvic support member to hold said user relative
to said pelvic support member and restrict movement of the user in
a direction towards and way from the coronal plane relative to said
pelvic support member.
[0062] Preferably said pelvic support member includes a C-shaped
user interface surface that is presented to locate predominantly
about the posterior side of the hip and/or waist region of the
user.
[0063] Preferably said user interface projects to be located at
least part of each side of said user also.
[0064] Preferably a pelvic harness is suspended from said pelvic
support member, said pelvic harness to locate about the user in a
manner to vertically support said user, wherein said pelvic harness
includes at least one pocket that can removably receive a packer of
an appropriate shape and size to provide packing intermediate of
said user and said pelvic support member.
[0065] Preferably the user interface surface is shaped to snugly
locate adjacent the user and said packers can fill space between
said user and said user interface.
[0066] Preferably a plurality of sensors are provided for providing
information to the control system for facilitating the control of
movement of the exoskeleton.
[0067] Preferably the plurality of sensors are configured for
sensing a characteristic to be sensed, and generating a signal
indicative of that characteristic, and transmitting the signal to
the control system for facilitating the control of movement of the
exoskeleton.
[0068] Preferably said sensors are selected from at least one of:
[0069] i) an accelerometer to measure the acceleration of at least
one or more selected from said pelvic support member, the upper leg
structural members, the lower leg structural members and the foot
members, [0070] ii) an inclinometer to measure the inclination of
at least one or more selected from said pelvic support member, the
upper leg structural members, the lower leg structural members and
the foot members, [0071] iii) distance sensors configured for
determining the slope of the ground anteriorly, posteriorly and
laterally of the walking aid, [0072] iv) pressure sensors disposed
on the foot member to determine the pressure being applied by the
foot member to the ground, and [0073] v) position sensors for
determining the position and velocity of the actuators.
[0074] Preferably said controller includes a gyroscope configured
for defining a reference frame for the purposes of positional
control of the or part of the exoskeleton.
[0075] Preferably said walker includes a human interface device
that preferably includes at least one of a joystick and a
keypad.
[0076] Preferably the exoskeleton is configurable into a sitting
position for facilitating the transfer of a user to and from the
walker, said exoskeleton comprising support surfaces configured and
dimensioned to be engageable by a user for facilitating transfer of
the user to and/or from the walker when in the sitting
position.
[0077] Preferably the support surfaces are hand holds configured to
extend substantially horizontally when the walker is in the sitting
position.
[0078] Preferably the support surfaces are defined by covers that
cover at least part of the exoskeleton.
[0079] In a second aspect the present invention may be said to be
an exoskeleton device worn by a paraplegic user for device
controlled walking of the user, said exoskeleton device comprising:
[0080] a. a rigid pelvic support member carrying a user securing
arrangement to engage with the user at their pelvis to vertically
support the user relative to said exoskeleton, [0081] b. a first
leg structure and a second leg structure, each of the first leg
structure and the second leg structure being coupled to and
extending from said pelvic support member for operational location
adjacent a respective leg of a user, each of the first leg
structure and second leg structure comprising [0082] an upper leg
structural member for engagement with the upper leg of the user,
the upper leg structural member being pivotally engaged at a first
end thereof to the pelvic support member by a hip joint, wherein
the hip joint is configured for facilitating the multi axis
rotational movement of said upper leg structural member relative to
said pelvic support member towards and way from the coronal plane
of the body of the user; [0083] a lower leg structural member for
engagement with the lower leg of the user, the lower leg structural
member being pivotally engaged at a first end thereof to a second
end of the upper leg structural member by a knee joint, [0084] a
foot member for engagement with the foot of a user, the foot member
being pivotally engaged to a second end of the lower leg member by
a foot joint, [0085] a main hip actuator configured for actuating
pivotal movement of said upper leg structural member relative to
said pelvic support member about said hip joint, to in use pivot
the upper leg structural member towards and away from the coronal
plane of the body of the user, [0086] a knee actuator configured
for actuating pivotal movement of said lower leg structural member
relative said upper leg structural member about said knee joint,
[0087] a main foot actuator configured for actuating pivotal
movement of said foot member relative said lower leg structural
member about said foot joint about an axis of rotation
substantially parallel to the axis of rotation of the knee
joint;
[0088] Preferably said exoskeleton comprises a power source
configurable for providing power to at least one or more selected
from said main hip actuators, knee actuators, and main foot
actuators.
[0089] Preferably the exoskeleton device is worn by a paraplegic
user for device controlled and user specified walking motion.
[0090] Preferably the user securing arrangement vertically supports
all of the user relative to said exoskeleton.
[0091] Preferably the hip joint is configured for facilitating the
multi axis rotational movement of said upper leg structural member
relative to said pelvic support member toward and away from the
sagittal plane of the body of the user for adduction and abduction
and a secondary hip actuator is provided, configured for actuating
pivotal movement of said upper leg structural member relative the
pelvic support member about said hip joint towards and away from
the sagittal plane of the body of the user for adduction and
abduction.
[0092] Preferably a power source is provided configurable for
providing power to at least one or more selected from said main hip
actuators, knee actuators, and main foot actuators,
[0093] Preferably a control system is provided configurable for
controlling movement of at least one or more selected from said
main hip actuators, knee actuators, and main foot actuators,
thereby to move the exoskeleton relative to the ground on which the
walking aid is positioned, for at least the purposes of effecting a
walking motion to said user.
[0094] In yet a further aspect the present invention may be said to
be an exoskeleton suitable for a walking aid or a medical device,
said exoskeleton comprising: [0095] i) a rigid pelvic support
member suitable for snug engagement with a user's hips
operationally [0096] ii) a user securing arrangement to securely
fastening a user at least to the pelvic support member to support
said user operationally; [0097] iii) a first leg structure and a
second leg structure, each of the first leg structure and the
second leg structure being coupled to and extending from said
pelvic support member for operational location adjacent a
respective leg of a user, each of the first leg structure and
second leg structure comprising [0098] a. an upper leg structural
member for engagement with the upper leg of the user, the upper leg
structural member being pivotally engaged at a first end thereof to
the pelvic support member by a hip joint wherein the hip joint is
configured for facilitating the multi axis rotational capability of
said upper leg structural member relative to said pelvic support
member for movement towards and away from the coronal plane and for
abduction and adduction, [0099] b. a lower leg structural member
for engagement with the lower leg of the user, the lower leg
structural member being pivotally engaged at a first end thereof to
a second end of the upper leg structural member by a knee joint,
[0100] c. a foot member for engagement with the foot of a user, the
foot member being pivotally engaged to a second end of the lower
leg member by a foot joint, [0101] d. a main hip actuator
configured for actuating rotation of said upper leg structural
member relative to said pelvic support member about said hip joint,
to in use pivot the upper leg structural member towards and away
from the coronal plane, [0102] e. a secondary hip actuator,
configured for actuating rotation of said upper leg structural
member for adduction or abduction about said pelvic support member,
[0103] f. a knee actuator configured for actuating rotation of said
lower leg structural member relative said upper leg structural
member about said knee joint, and [0104] g. a main foot actuator
configured for actuating rotation of said foot member relative said
lower leg structural member about said foot joint about an axis of
rotation substantially parallel to the axis of rotation of the knee
joint.
[0105] Preferably the user securing arrangement includes [0106] i)
a pelvic harness securable about a user's pelvis and affixed to the
pelvic support member to suspend the user thereby, and [0107] ii)
securing fasteners suitable for securing a user's legs to the leg
structures operationally.
[0108] Preferably the knee joint is a polycentric knee joint.
[0109] Preferably the exoskeleton is a gait vehicle to carry a
bipedal locomotion disabled user.
[0110] This invention may also be said broadly to consist in the
parts, elements and features referred to or indicated in the
specification of the application, individually or collectively, and
any or all combinations of any two or more of said parts, elements
or features, and where specific integers are mentioned herein which
have known equivalents in the art to which this invention relates,
such known equivalents are deemed to be incorporated herein as if
individually set forth.
[0111] The term "anterior" as used in this specification relates to
a direction corresponding to the front or in front of a human user,
and the term "anteriorly" is to be construed accordingly.
[0112] The term "posterior" as used in this specification relates
to a direction corresponding to the back of or behind a human user,
and the term "posteriorly" is to be construed accordingly.
[0113] As used herein the term "and/or" means "and" or "or", or
both.
[0114] As used herein "(s)" following a noun means the plural
and/or singular forms of the noun.
BRIEF DESCRIPTION OF THE DRAWINGS
[0115] FIG. 1 shows a side view of the exoskeleton forming part of
the walker of the present invention with orthotics provided, shown
in this embodiment without a secondary hip actuator,
[0116] FIG. 2 is a cutaway front view of part of the exoskeleton
and orthotics that is shown in FIG. 1,
[0117] FIG. 3 is a front view of the exoskeleton and orthotics
shown in FIG. 1,
[0118] FIG. 4 is a front view of the walker of FIG. 1 supporting a
user,
[0119] FIG. 5 is a cutaway side view of part of the exoskeleton of
FIG. 1 in the region of the foot member,
[0120] FIG. 6 is a rear view of FIG. 5,
[0121] FIG. 7 is a cutaway front view of part of an exoskeleton
including a secondary hip actuator in the region of the hip
joint,
[0122] FIG. 8 is the side view of FIG. 7,
[0123] FIG. 8a shows a schematic layout of the lateral movement
actuators of the exoskeleton seen from the front,
[0124] FIG. 9 shows a side view of a foot member,
[0125] FIG. 10 shows a bottom view of a foot member,
[0126] FIG. 10a shows a perspective view of a foot member,
[0127] FIG. 11 shows a schematic side view of part of the
exoskeleton showing sensors placement and their intended sensing of
the surrounding environment,
[0128] FIG. 12 shows a side view of the knee joint in schematic
form showing the offset of the knee joint,
[0129] FIG. 13 is a side view of a person being supported by an
embodiment of the walker including a secondary hip actuator,
[0130] FIG. 14 shows a side view of a person supported by a walker
with covers attached to it,
[0131] FIG. 15 shows a perspective cutaway rear view of the foot
member and lower leg structural member of the exoskeleton,
[0132] FIG. 16 shows a side view of an upper region of the
exoskeleton including an upper body control extension for
supporting upper body movement relative to the pelvic brace,
[0133] FIG. 17 shows a side view of a walker in a stepping forward
position,
[0134] FIG. 18 shows a rear view of a walker including a secondary
hip actuator,
[0135] FIG. 19 shows a front view showing in more detail the
bracing and support that is provided to secure the user by the
exoskeleton,
[0136] FIG. 20 shows a cutaway right side view of the knee region
of the exoskeleton showing a knee pivot offset,
[0137] FIG. 21 shows a cutaway right rear view of the preferred
knee pivot off set,
[0138] FIG. 22 shows a cutaway right front view of the knee pivot
offset,
[0139] FIG. 23 shows a side view of a walker with covers on,
[0140] FIG. 24 shows a rear view of a walker with covers on,
[0141] FIG. 25 shows a front view of a walker with covers included
and supporting the user,
[0142] FIG. 26 shows a perspective front view of a third embodiment
of a walker in a stepping position,
[0143] FIG. 27 shows a perspective front view of a third embodiment
of a walker supporting a user in a standing position,
[0144] FIG. 28 shows a side view of a third embodiment of a walker
supporting a user in a standing position,
[0145] FIG. 29 shows a front view of a third embodiment of a
walker,
[0146] FIG. 30 shows a rear view of a region near the hip joint of
FIG. 26,
[0147] FIG. 31 shows a side view of a region near the hip joint of
FIG. 26,
[0148] FIG. 32 shows a rear view of a region near the knee joint of
FIG. 26,
[0149] FIG. 33 shows a perspective front view of a knee joint of
FIG. 26,
[0150] FIG. 34 shows a perspective front view of a region near the
hip joint of FIG. 26,
[0151] FIG. 35 shows a side view of a region near the knee joint of
FIG. 26,
[0152] FIG. 36 shows a side view of a third embodiment of a walker
in a standing position without covers on,
[0153] FIG. 37 shows a side view of a third embodiment of a walker
in a stepping position without covers on,
[0154] FIG. 38 shows a side view of a third embodiment of a walker
in a stepping position with covers on,
[0155] FIG. 39 shows a front perspective view of a third embodiment
of a walker in a sitting position without covers on,
[0156] FIG. 40 shows a front view of a third embodiment of a walker
in a sitting position without covers on,
[0157] FIG. 41 shows a front perspective view of a region near the
foot joint of a walker,
[0158] FIG. 42 shows a front view of a region near the foot joint
of a walker,
[0159] FIG. 43 shows a schematic diagram illustrating the movement
of centre of mass of the walker and user between steps during a
walking movement,
[0160] FIG. 44 shows a side view of the user support harness and
associated spacer,
[0161] FIG. 45 shows a cutaway and partial view of FIG. 44,
[0162] FIG. 46 shows a front view of the support harness,
[0163] FIG. 47 shows a rear perspective view of the support harness
and associated spacer, and
[0164] FIG. 48 shows a reference frame diagram.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0165] The current invention relates to a walker that includes an
exoskeleton which in effect completely supports and guides the dead
weight of a user's body and can move around in a walking gait like
manner. It is envisaged that a user of this device may have limited
strength, and or movement of their arms. For this reason, the
user's arms need not be relied upon to support themselves (for
example by means of crutches).
[0166] With reference to the above drawings, in which similar
features are generally indicated by similar numerals, a walker is
generally indicated by the numeral 100.
[0167] The walker comprises an exoskeleton suitable for use to
control and determine the walking gait of a disabled user and is
generally indicated by the numeral 500.
[0168] The walker 100 is suitable for fully supporting a mobility
impaired disabled user while moving through a set of movements
correlating to a walking gait. Broadly speaking, the walker 100
preferably comprises an exoskeleton 500, a power source in the form
of a battery pack or other similar onboard power pack (not shown)
together with its associated power supply cables (not shown), and a
control system (not shown).
[0169] The exoskeleton 500 comprises a rigid pelvic support member
15 including a pelvic harness 96, and a pair of leg structures 50
(a first leg structure and second leg structure).
[0170] The pelvic support member 15 is required to be of a
relatively low weight, while having a high rigidity in operation.
For this reason, the pelvic support member 15 may be moulded from
carbon fibre as a single unit having an interior hollow space (not
shown). It is envisaged that the pelvic support member 15 could
also be moulded from glass fibre. The pelvic support member 15
further includes transverse shear webs extending across its
interior hollow space. It is preferably C-shaped so that it can be
engaged around a users pelvis by engagement from in a direction
towards the coronal plane of the user (where the user is in an
upright position).
[0171] Each of the leg structures 50 comprise an upper leg
structural member 10, a lower leg structural member 11, a foot
member 18, a main hip actuator 16, a knee actuator 13 and a main
foot actuator 19. More detail of examples are described below.
[0172] The upper leg structural member 10 is provided for securing
with an upper leg 610 of a user 600, the upper leg structural
member 10 being pivotally engaged at a first end 10a thereof to the
pelvic support member 15 by the hip joint 14.
[0173] The lower leg structural member 11 is provided for securing
with the lower leg 620 of the user 600, the lower leg structural
member 11 being pivotally engaged at a first end 11a thereof to a
second end 10b of the upper leg structural member 10 by a knee
joint 12.
[0174] In one embodiment, it is envisaged that the knee joint 12
will only allow relative pivotal movement between the upper leg
structural member 10 and the lower leg structural member 11 along a
single plane. It will preferably use a roller bearing arrangement
(not shown) to accomplish this. However, the knee joint 12 may be
subject to large twisting forces or sideways forces, causing axial
forces on the roller bearing arrangement. For this reason, it is
envisaged that the knee joint will also include a thrust bearing
arrangement (not shown) configured for resisting axial forces on
the knee joint 12.
[0175] The knee joint may be a polycentric knee joint.
[0176] Each of said upper leg structural member 10 and lower leg
structural member 11 include a fastening arrangement such as in the
form of adjustable fasteners 46 for fastening the respective leg
structures 50 with the associated legs of a user 600 in use. It is
envisaged that the fasteners 46 may be comprised of flexible
webbing or straps, and can include an adjustable fastening
arrangement 47, which could be in the form of straps having a hook
and loop fastening system such as Velcro.RTM. which pass through a
buckle. Alternately, the adjustable fastening arrangement can
include a typical buckle, ratchet buckle or catch formation.
[0177] The foot member 18 is for locating the foot 630 of a user
600, the foot member 18 being pivotally engaged to a second end 11b
of the lower leg structural member 11 by a foot joint 17.
[0178] Each of said foot members 18 includes a foot member
structural component 126 for guiding the movement of a user's feet
630 operationally.
[0179] In one embodiment, each of said foot members 18 may include
a designated shoe 31 which is conveniently removably engagable with
the foot member structural component 126, and into which the user
600 can place their feet. The shoe 31 may be removably engagable
with the foot member structural component 126 by a securing
formation, such as a clip-type formation, a snap-fit type
formation, a bayonet-type formation or any other suitable
formation. The position of the shoe 31 relative to the foot member
structural component 126 is envisaged as being adjustable, to allow
the alignment of a user's ankle with the axis of rotation 17A of
the foot joint 17.
[0180] In another embodiment, each of the foot members 18 include a
foot engaging formation 34 for receiving the users own shoe and in
that way locating a user's foot 630. The foot engaging formation 34
is coupled to the foot member structural component 126 in an
adjustable manner, to again allow for positioning of the user's 600
ankle.
[0181] The main hip actuator 16 is configured for actuating
rotation of said upper leg structural member 10 relative to said
pelvic support member 15 about said hip joint 14, to thereby (in
use) pivot the upper leg structural member 10 in towards and away
from the coronal plane of the user 600.
[0182] The exoskeleton 500 may further include, for each of the leg
structures 50, a secondary hip actuator 38. The secondary hip
actuator 38 is configured for actuating rotation of the upper leg
structural member 10 in adduction and abduction relative the pelvic
support member 15 and relative to the user 600 in use. In a
preferred embodiment, the secondary hip actuator 38 is configured
for actuating rotation of said upper leg structural member 10 in
towards and away from a plane passing thought the hip joint and
parallel to the sagittal plane, in a range of about twelve degrees,
and more preferably about six degrees, to either side of the
plane.
[0183] The knee actuator 13 is configured for actuating rotation of
said lower leg structural member 11 relative said upper leg
structural member 10 about said knee joint 12.
[0184] The main foot actuator 19 is configured for actuating
rotation of said foot member 18 relative said lower leg structural
member 11 about said foot joint 17 about an axis of rotation 17A
substantially parallel to the axis of rotation 12A of the knee
joint 12.
[0185] Further, the exoskeleton 500 may include for each of the leg
structures 50 a secondary foot actuator 39. The secondary foot
actuator 39 is configured for actuating rotation of said foot
member 18 in towards and away from the sagittal plane about said
foot joint 17. The rotation may be in the range of about ten
degrees, and more preferably about six degrees to either side.
[0186] The actuators used are preferably low voltage DC actuators
with position feedback through a sensor in the actuator. The low
voltage aspect of the actuator is important in that it is safe for
use and will do no harm to the user in the case of a fault.
Typically, an actuator would be caused to move by an electric motor
(not shown) driving a worm gear (not shown), which in turn causes
the actuator to extend or retract.
[0187] In use, the user is strapped to and supported by the
exoskeleton 500. It is envisaged that the walker 100 is a self
contained, and in use, self supporting structure that is capable of
moving the user 600 over ground. It does so by moving the legs of
the user in a walking gait like manner and supporting the user
during the movement. The walker 100 includes a user fastening
arrangement that may comprise a pelvic harness 96 including braces,
tethers, strapping, a harness or webbing to hold the user's 600
hips snugly to the pelvic support member 15, and either orthotics
or adjustable fasteners to secure the user's legs and/or feet to
the leg structures 50. The braces include orthotics 4 positioned,
configured and designed to ensure correct alignment of the users
limbs and joints and can also include straps or webbing. The
orthotics help ensure the user 600 is not only supported but is
also correctly aligned within the exoskeleton so as not to damage
the user's 600 limbs or joints. The orthotics may include webbing
or straps to hold the user in position relative the formed portion
of the orthotics. The webbing may also facilitate an easy and
adjustable fitting and release of the user from the walker 100.
[0188] The orthotics are preferably engaged and/or capable of being
releasably engaged to the exoskeleton. With reference to FIG. 3,
the orthotics may include an upper leg orthotic 26 and a lower leg
orthotic 27. These may be directly joined to each or indirectly
joined to each other by the exoskeleton. For example with reference
to FIG. 3, the upper leg orthotic 26 and lower leg orthotic 27 may
be joined at the joints 28. The orthotics are engageable to the
exoskeleton 500 via connectors 29.
[0189] The connectors 29 rigidly hold the orthotics to the
exoskeleton. The connectors 29 are of a shape and configuration so
that a correct alignment of the upper and lower leg of the person
is achieved once engaged to the exoskeleton. The connectors 29 may
be of a dove tail configuration or snap lock configuration or
other. The connectors 29 may facilitate a releasable engagement of
the orthotics to the exoskeleton 500. This can be beneficial to a
user 600 who normally wears orthotics. This allows for such a
person to more rapidly associate themselves with the exoskeleton
500. It also allows for such a person to associate with the
exoskeleton 500 in a comfortable manner because the orthotics 4 are
already engaged to the person in an appropriate location.
[0190] The control of the walker is achieved by the control system
which is configurable for controlling movement of the main hip
actuators, secondary hip actuators, knee actuators, main foot
actuators, and secondary foot actuators. A power source is
configurable for providing power to the actuators 16, 13, 19, 38,
39.
[0191] Controlled movement of the actuators can cause movement of
the exoskeleton 500 relative to the ground on which the walker is
positioned. When controlled to actuate the actuators in the correct
sequence, a walking gait like motion can be achieved by the
exoskeleton. Further, when a mobility impaired disabled user 600 is
secured to the walker, the user 600 is caused to move their joints
and muscles through the motions of walking, thereby assisting in
the prevention of deterioration of a user's 600 physiology.
[0192] The walker may be controlled by the user by way of a
joystick 2 and keypad 3 normally positioned at waist height. The
keypad 3 and joystick 2 may be supported by an arm 5. This may be
able to pivot to move between at least one operational position (eg
in use extending horizontally or pointing down vertically) and a
retired position (eg extending vertically)
[0193] More detail will now be described with reference to FIGS.
1-3. The exoskeleton 500 includes an upper leg structural member 10
and a lower leg structural member 11. These are connected by a knee
joint 12 that defines a pivot axis 12A to allow the upper leg
member 10 and lower leg structural member 11 to pivot relative to
each other. The pivot axis 12A ensures the upper leg member and
lower leg member can rotate relative to each other but only about
one pivot axis. Alternatively a polycentric knee joint may be
used.
[0194] Movement about the knee axis 12A of the upper leg member and
lower leg member can be actuated by the knee actuator 13. The knee
actuator 13 extends between parts of the upper leg member and lower
leg member for the purposes of actuating relative rotational
movement between the upper leg member 10 and lower leg structural
member 11.
[0195] The knee joint 12 is preferably located at a distal first
end 10b of the upper leg member 10. At a first end 10a of the upper
leg member 10 is a hip joint 14 that pivotally engages the upper
leg member 10 with the pelvic support member 15. The hip joint 14
defines a hip axis 14A that in use is located relative to the user
600 at or approximate to the natural axis of hip rotation towards
and away from the coronal plane. In a preferred embodiment, each
hip joint 14 is configured relative to the pelvic support member 15
with its axis of rotation 14A extending downwardly in a lateral
direction at an angle of between zero and ten degrees, and more
preferably of about four degrees. This inclination of the axis of
rotation 14A mimics as a close approximation a human beings upper
leg alignment and is illustrated as angle .alpha. in FIG. 30. The
inclination means that the foot members of the walker 100 are
closer together, which allows for more natural transfer of the
centre of mass (generally located about the middle of the pelvis)
to a point within the support area provided by the foot members 18
during when the walker 100 is controlled in to move through a
walking motion. This is further illustrated in FIG. 43, showing how
the movement of the combined centre of mass (illustrated as point
C) of the walker 100 and the user moves in a reduced side to side
movement between the individual steps in a walking movement,
compared to a walker not having such an inclination of the axis of
rotation of the hip joint (shown in broken lines).
[0196] The hip joint 14 allows for a relative rotation between the
upper leg member 10 and the pelvic support member 15. Such rotation
is preferably primarily about an axis that is parallel to the knee
axis 12A. However the hip joint 14 may also allow for a rotation of
the upper leg member 10 relative the pelvic support member 15 in an
abduction and adduction manner. This multi axis pivoting capability
can be facilitated by the use of a rose joint to define the hip
joint 14. It is envisaged that the hip joint 14 (in the form of a
rose joint) may be limited in its movement by a pair of
horizontally aligned plastic, and preferably acetyl, bushes (not
shown) disposed on either side of the rose joint. A vertically
aligned flange (not shown) connected to the upper leg structural
member 10 will be prevented from pivotal movement in a horizontal
plane in this way, at least partially preventing pivoting movement
of the upper leg structural member 10 about its longitudinal
axis.
[0197] Rotation of the pelvic support member 15 relative the upper
leg member 10 about an axis parallel to the knee axis 12A, at the
hip joint 14 can be achieved by the use of the main hip actuator
16.
[0198] Disposed at a second distal end 11b (the end away from the
knee joint) of the lower leg structural member 11, is a foot member
18. The foot member 18 is capable to rotating relative the lower
leg structural member 11 by virtue of the foot joint 17. The foot
joint 17 preferably defines a pivot axis 17a that extends parallel
with the knee axis 12A. Pivotal movement of foot member 18 about
the foot joint 17 relative to the lower structural support member
11 towards and away from the coronal plane can be effected by the
foot actuator 19.
[0199] The foot joint 17 may, like the hip joint, be a rose joint
to facilitate its multi-axis pivoting capability. The foot joint 17
can allow for the foot member 18 to have multiple degrees of
rotational movement relative the lower leg structural member 11. In
a preferred embodiment, each foot joint 17 is configured with its
axis of rotation 17A extending downwardly in a lateral direction at
an angle of between zero and 6 degrees, and more preferably at
about four degrees.
[0200] A secondary foot actuator 39 may be provided, and coupled to
the foot member 18 to control a rotational movement of the foot
member in a direction substantially transverse to the direction in
which the main foot actuator 19 can control rotational movement
towards and way from the sagittal plane. The secondary foot
actuator 39 may be engaged to an axle or lever arm 40 of the foot
member 18 to facilitate this pivoting movement.
[0201] With reference to FIGS. 5-6, in FIG. 5 there is shown a
close up view of the foot member 18, foot joint 17 and lower leg
structural member 11 of the device, wherein it can be seen that a
secondary axis 17b is provided about which the foot member 18 can
rotate as a result of operation of the secondary actuator 39.
[0202] FIGS. 7-8, show a primary axis of rotation that is about
axis 14a and a secondary axis defined by axis 14b, movement about
which can be controlled by the secondary hip actuator 38.
[0203] To allow for the walker 100 to be fitted to a user to allow
the user to operate the device in a safe manner, it is important to
ensure that the spacing between hip joint 14, knee joint 12 and
foot joint 17 is appropriate. Appropriate positioning should be
where such joints are, as close as possible, aligned with the
corresponding natural joints of a user.
[0204] The exoskeleton 500, when worn by a user will sit relative a
user 600 in a position defined by a combination of factors. The
user is preferably held to the exoskeleton by the use of orthotics
4 that are engaged to the exoskeleton. Adjustment of the position
of the hip joint, knee joint and foot joint is achieved by virtue
of adjustability in the effective length of the upper leg member 10
and the lower leg structural member 11. Such adjustment may be
achieved by a turn buckle style adjustment means 20 that may be
located at the second distal end of the lower leg structural member
11 and a turn buckle 21 at the first distal end of the upper leg
member 10. The turn buckle 21 can allow for the distance between
the hip joint 14 and knee joint 12 to be varied and the turn buckle
20 can allow for the distance between the knee joint and the foot
joint 17 to be varied. In an alternate embodiment, the length
adjustment may be accomplished by the insertion of lengthening
inserts, which may be screwed into the upper and lower leg
structural members 10, 11. It will be appreciated that adjustment
features can be provided elsewhere and may also come in different
forms such as in the form of a snap fit arrangement, bayonet type
arrangement, telescopic or other means of setting the distance
between the joints. This adjustment can allow for the one device to
be used by different users that may be of differing body shape or
size.
[0205] The walker is primarily designed for use by paraplegic users
who are unable to exercise any control over their legs and feet.
The walker provides stability to the user in a standing and walking
gait by the features described herein that substitute the
anatomical functions of the user that the user needs to stand and
walk but that the user has lost control over. Such a mobility
impaired disabled users needs to be fully supported as they are not
able to stand by themselves. In this context, the walker offers
full support to a mobility impaired disabled user for standing wan
walking gait. In addition an important aspect of the walker is its
ability to support the mobility impaired disabled user in a
position so that their own legs are weight bearing. This causes
their bones to be subjected to stress. Typically, mobility impaired
disabled user's leg and pelvic bones deteriorate over time. This is
caused by the removal or leeching of minerals from their bones
where their bones are not subjected to regular stress. In addition
to the weakening of their bones, mobility impaired disabled users
can suffer from downstream complications from this mineral removal,
in that these minerals may build up in other parts of their bodies,
for instance in, such as kidney stones or the like.
[0206] In subjecting a mobility impaired disabled user's bones to
stress where they would otherwise not be, helps prevent
deterioration of a user's bones, and subsequent complications where
minerals removed from the user's bones builds up elsewhere in the
user's system. Further, causing movement of the user's legs assists
in stimulating blood flow through their system, which allows
associated physiological benefits. The leg structures of the
exoskeleton are able to be adjusted in length in order to tune the
degree of stress that the users legs are places under. This length
adjustability is important in order to ensure for example that a
new user can receive a custom set walker for use that will have
significant adverse effects on their body. Or in case a new user is
changing in height and requires the walker to be re-tuned.
[0207] The pelvic support member 15 holds part of the hip joints 14
thereby setting a fixed spacing of the hip joints 14 relative each
other. The pelvic support member 15 is preferably a rigid member
that can sit about part of the pelvis of a user. Preferably the
pelvic support member 15 extends substantially about the posterior
of the pelvis region of a user 600 and to the sides of the user.
The pelvic support member 15 or an extension member that may be
removably engaged thereto may also extend to offer support to the
lower torso or waist of the user. With reference to FIG. 16 there
is shown an additional support making the device suitable for users
with lack of upper body strength and or function. There may be
provided one or more torso support in the form of a harnesses or
upper body braces 92 that is attached to the pelvic support member
15. The upper body brace 92 can be provided for users 600 that have
limited upper body control. This upper body brace 92 may include a
frame or corset that is actuated to move the user's upper body 640
to help with their balance. In one embodiment (not shown), the
torso support harness 92 can be connected to the pelvic support
member.
[0208] The user is supported at the pelvic support member 15 by a
pelvic harness 96 which may include adjustable straps or webbing
which extend about the legs of a user and are fastened and released
as appropriate by the user. Such webbing may be adjustable in
length. It may include the likes of a hook and loop fastening
system such as Velcro.RTM. for facilitating easy entry and exit
from the walker by the user. With reference to FIG. 4 it can be
seen that the harness can include webbing 23. A user 600 can be
strapped to the hip frame 15 by webbing 23 around their waist to
ensure that the user remains firmly held to the hip frame 15.
Further, a packing arrangement 101 composed of a material such as
wedge shaped foam or foamed plastic may be used to ensure a snug
fit by the user in the hip frame 15. It is also envisaged that the
packing arrangement 101 could be an inflatable thin walled pressure
vessel (not shown).
[0209] FIGS. 44 to 47 show a pelvic support harness in more detail
that helps support a user relative to the pelvic support member in
a manner that is comfortable and of a nature to reduce any skin
damage. The harness is predominantly made from webbing straps as
shown in FIGS. 45 and 46. Suspension straps 759 are at or towards
their upper ends fastened to the pelvic support member at points
819 as shown in FIG. 39. Suspension traps 757 are fastened at or
towards their upper ends to point 821 (shown on one side of the
pelvic support member only. These suspension traps transfer most of
the weight of the user to the pelvic support member 15. Dependent
from the suspension traps 758 and 757 are the buttock straps 831
and the thigh traps 756.
[0210] The buttock straps comprise of a lower and upper buttock
strap that form a cradle like shape to receive the buttocks of the
user. The upper buttock strap 837 locates more around the posterior
of the buttocks. The lower buttock strap is more proximate to the
coronal plane. The upper and lower buttock straps can be adjusted
in height relative to the pelvic support member by being moveably
mounted relative to the suspension straps 758. They can also be
adjusted in height at where they engage with the suspension straps
757.
[0211] The buttock straps can also be moved towards and away from
each other by movement along the suspension traps 758 in order to
change the shape of the cradle they form. The distance between
suspension points 734 can also be adjusted by virtue of the buttock
straps being length adjustable.
[0212] The thigh straps 756 are able to open and close by use of
buckles 766. These can be adjusted to ensure a snug fit of the
thigh straps to the user.
[0213] The thigh straps are designed to sit low around the inside
leg of the thigh. And extend upwardly around to the other side of
the thigh from there. The take-off strap 787 of the tight strap is
located on the outside of the leg and the load transferred there
through helps locate the thigh strap relative the tight of the user
in a manner to avoid the thigh strap from riding upwardly and into
the crotch of the user.
[0214] Located intermediate of the harness and the pelvic support
member is a spacer 933 that defines a pocket or pockets that
removably contain spacer elements such as foam or inflatable pads.
These are located in the pockets to pad out the gap between the
user and the pelvic support member in order to ensure that a snug
location of the user occurs relative to the pelvic support
member.
[0215] Some or all of the components of the exoskeleton 500 may be
fully or partially covered by covers 98 (as shown in FIGS. 14, 23,
25 and 38). These covers 98 are provided for safety, waterproofing,
dustproofing and aesthetic purposes and said covers 98 will be of
sufficient strength and stability to allow the user 600 to transfer
into and out of the walker by using the covers for support. In one
embodiment, handles may be built into the covers 98, to facilitate
transfer of the user 600 to and from the exoskeleton 500.
[0216] In one embodiment, the exoskeleton 500 is configurable to a
seated position (as shown in FIGS. 39 and 40). For example, when
the exoskeleton 500 is in a seated position, the surfaces 99 of the
covers (eg shown in FIG. 23, but not in the seated position) will
extend substantially horizontally. The walker 100, located on a
seat will then give the user a rigid surface to rely on for the
purposes of their transfer into and out of the device. As such the
covers 98 are preferably engaged to the exoskeleton in a rigid
manner and in a manner that ensures they are stable relative
thereto. The covers 98 may also (or instead) include functional
shape features that can offer hand holds to the user for similar
purposes.
[0217] The walker 100 may include a number of inertia measurement
units 55 shown in FIG. 11. Preferably, each of these inertia
measurement units 55 may consist of an accelerometer, a gyroscope
and an inclinometer. These inertia measurement units 55 measure and
provide feedback on the attitude and rate of change of attitude and
momentum of the walker 100 in operation and provide input variables
to the controller.
[0218] It is envisaged that in one embodiment, the walker 100 can
include distance sensors such as ultrasonic, laser or infrared
sensors 56. These sensors can measure the distance between a
set-point on the device to the surface of the ground. There may
also be six ultrasonic sensors (not shown) to achieve this, one to
the left, one to the right, one to the left side, one to the right
side one at the back and one at the front of the device.
[0219] The walker 100 can also include two position sensors 58, 59
(ultrasonic, infrared or laser) at the front and two 60, 61 at the
back of the device for detecting objects which could act as an
obstacle to movement of the walker 100. The walker further includes
a distance sensor on each leg measuring distance downwardly in
front of each leg to potentially measure the distance from the
lowest level of each foot to the ground or top of a step.
[0220] In one embodiment, the foot member 18 can include
contact/pressure sensors 67, 68, 69 (shown in FIG. 11) that can
detect contact of the foot member 18 with a surface and/or the
degree of pressure being applied by part of the foot member 18 to
the surface, or even the pressure variation applied to the ground
across the bottom of the foot member 18. It is envisaged that in a
preferred embodiment, the sensors on the foot member 18 are sealed
by a waterproof cover (not shown).
[0221] It is envisaged that any of these sensors are configurable
for providing information to the control system for facilitating
the control of movement of the exoskeleton 500. They will typically
do this by sensing a particular characteristic to be sensed and
generating a signal indicative of that characteristic, and
transmitting the signal to the control system for facilitating the
control of movement of the exoskeleton 500.
[0222] The device may also include seat sensors (not shown) for
detecting forces applied by a user to the walker. It is envisaged
that these could be in the form of a strain gauge (not shown) or
the like. Two of these may exist at the rear of the walker 100, one
in each "thigh" region.
[0223] The walker can further include pressure sensors 65 and 66 in
the front and rear of the foot. These can detect any obstacles in
front of the foot members 18.
[0224] It is envisaged that the walker control system (not shown)
is configured to receive user input via a human interface device
1601 through which a human interface with the control system and
may input information and receive information through sensory
signals such as sound, light or vibration. Some examples of such a
human interface device are a control pad (not shown), a keypad 3, a
joystick 2, a touch screen or the like.
[0225] The control system includes a human interface device 1601.
As described, various sensors, including sensors in the actuators
are configurable to provide feedback signals which can be used by
the control system for facilitating the control of the
actuators.
[0226] In the preferred embodiment a control pad 4 will be used for
human-machine interfacing. The control pad will be pivotable on a
swing arm 5. It is envisaged that in one preferred embodiment, the
control pad 7 contains a membrane keypad (3), light emitting diode
(LED) lights (not shown), a joystick 2 and a battery meter (not
shown). Other suitable human machine interfacing controls may be
used. For example a touch screen (not shown) may replace the
control pad.
[0227] The keypad 3 of the preferred embodiment may further include
an audible buzzer to indicate warnings and the selection of inputs
and/or functions of the control system.
[0228] It is envisaged that the LEDs can be used for a wide variety
of functions, including fault indication, to indicate charging of
the power supply, or to indicate that the emergency power supply
(not shown) is being used.
[0229] The LED's can also be used as a battery meter to provide an
indication of the available power in the main battery pack, ranging
from all LEDs lit up meaning the battery is fully charged to no
LEDs lit up meaning the battery needs charging.
[0230] The joystick 2 will be used as a user input means to input
control instructions to the control system.
[0231] The walker is powered by on-board battery packs (not shown).
In the preferred embodiment the battery packs are located at the
`kidneys` in the hip frame and at the front of the `shins` in the
leg covers 98. The battery system is a low voltage DC system and
the battery packs are rechargeable from domestic power supply or
vehicle power supplies. At least the actuators require power from
the battery packs in order to allow them to actuate.
[0232] The battery packs are removable for quick replacement with
another battery pack of similar capacity or extended capacity.
[0233] The battery packs can be charged on-board the walker or
externally in the specifically designed charger.
[0234] Typically only a section of the battery packs will be used
and in the event of these being depleted an audible alarm will
sound as well as a visual battery charge indicator on the control
panel will alert the user of the low battery power situation, the
walker will then be able to automatically switch the power over to
the reserve battery portion. Alternately, and in another preferred
embodiment, the control panel will merely alert the user of a low
power situation, and no reserve battery packs will be provided to
conserve weight. It is envisaged that the walker 100 will assist in
restoring basic mobility to a disabled user.
[0235] The walker is self contained with on board power and control
systems and can be recharged using an in car charger or domestic
power supply.
* * * * *