Gait-locomotor apparatus Number:7,153,242 from the United States Patent and Trademark Office (PTO) owispatent

Title: Gait-locomotor apparatus

Abstract: The gait-locomotor apparatus of the present invention is a device for overcoming impeded locomotion in humans and is aimed at enabling people with handicapped lower limbs to walk. The gait-locomotor apparatus that is wore on a disabled user comprises a brace having a plurality of jointed segments that are adapted to fit the lower body of the disabled user and propulsion means that is adapted to provide relative movement between the plurality of jointed segments. The gait-locomotor apparatus further comprises at least one sensor adapted to monitor the angular position of at least one of the plurality of jointed segments and a control unit that is adapted to supervise the propulsion means and to receive feedback information from the sensors so as to facilitate the brace to perform walking patterns. The disabled user that wears the gait-locomotor apparatus of the present invention is able to steadily stand in a stance position supported by the brace, and is able to walk in various walking patterns using the control unit while fully participating in the process.

Patent Number: 7,153,242 Issued on 12/26/2006 to Goffer

---

Inventors:	Goffer; Amit (Kiryat Tivon, 36531, IL)
Appl. No.:	09/864,845
Filed:	May 24, 2001

---

Current U.S. Class:	482/66 ; 482/74; 482/75
Current International Class:	A63B 21/00 (20060101)
Field of Search:	482/75,76,74,67 601/33-35 700/245,253

---

References Cited [Referenced By]

---

U.S. Patent Documents

	4206558		June 1980		Bivona
	4422453		December 1983		Salort
	4697808		October 1987		Larson et al.
	4945616		August 1990		Hart
	5081989		January 1992		Graupe et al.
	5112296		May 1992		Beard et al.
	5282460		February 1994		Boldt
	5476441		December 1995		Durfee et al.
	5662693		September 1997		Johnson et al.
	5961476		October 1999		Betto et al.
	5961541		October 1999		Ferrati
	6741911		May 2004		Simmons

Foreign Patent Documents

	2260495		Apr., 1993		GB
	2301776		Dec., 1996		GB

Other References

Kralj, A. in "Gait Restoration in Paraplegic Patients: A Feasibility Demonstration Using Multichannel Surface Electrodes FES", J. Rehab. Res. Dev., vol. 20 pp. 3-20 (1983). cited by other . IRBY et al. in "Automatic Control Design for a Dynamic Knee Brace System" IEEE Trans. Rehab. Eng., vol. 7, pp. 135-139. cited by other . Collins Wisse and Ruina, "A 3-D Passive Dynamic Walking Robot with Two Legs and Knees", Submitted to publication in the International Journal of Robotics Research, Feb. 2001. cited by other . Finley, F.R., and Kapovich, P.V., "Electrogoniometric Analysis of Normal and Pathological Gaits," Res. Quart. 1964, pp. 379-384, vol. 35. cited by other . Morris, J.R.W., "Accelerometry--A Technique for the Measurements of Human Body Movements," J. Biomech. 1973, pp. 729-736, vol. 6. cited by other.

Primary Examiner: Donnelly; Jerome W.
Attorney, Agent or Firm: Wertsberger; Shalom Saltamar Innovations

---

Claims

---

The invention claimed is:

1. A gait-locomotor apparatus for support gait, stance and climb, and transitions between lie-sit-stance positions of a person with a locomotion disability, the apparatus comprising: an exoskeleton bracing system comprising jointed support arms for coupling to the trunk of the body and lower limbs of the person; propulsion means coupled to the exoskeleton bracing system, for providing relative movement between said segments to parts of the exoskeleton bracing system; a plurality of sensors for sensing tilt of the trunk and angular position of parts of exoskeleton bracing system; a control unit for receiving information from said plurality of sensors, and for identifying the relative position of parts of the exoskeleton bracing system, the tilt of the person with respect to the ground and gait phases or other phases of modes of operation, a current mode of operation being manually set by the person by an interface into the control unit, processing information in accordance with the current mode of operation and activating and controlling the propulsion system in accordance with a set of predefined movement modes or patterns; whereby the apparatus establishes a man-machine interface relation with the person with the locomotion disability, and aids the person in acquiring locomotion as desired.

2. The gait-locomotor apparatus as claimed in claim 1, wherein the exoskeleton bracing system comprises a torso brace and a pelvis brace adapted to fit the trunk of the person, two thigh braces adapted to fit the thighs of the person, and two leg braces adapted to fit the legs and feet of the person.

3. The gait-locomotor apparatus as claimed in claim 1, wherein stabilizing shoes are provided and are attached to the exoskeleton bracing system, said stabilizing shoes are adapted to increase the lateral stability.

4. The gait-locomotor apparatus as claimed in claim 3, wherein said stabilizing shoes are adapted to maintain a side lean.

5. The gait-locomotor apparatus as claimed in claim 3, wherein said stabilizing shoes are provided with a rounded bottom.

6. The gait-locomotor apparatus as claimed in claim 1, wherein said exoskeleton bracing system is provided with two side crutches adapted to provide direct support to the person.

7. The gait-locomotor apparatus as claimed in claim 6, wherein said two side crutches are retractable so as to facilitate height adjustments.

8. The gait-locomotor apparatus as claimed in claim 7, wherein at least one of said two side crutches comprises at least two members that are telescopically connected so as to adjust the length of the side crutch.

9. The gait-locomotor apparatus as claimed in claim 6, wherein each of said two side crutches is provided with a handle that facilitates grasping of the crutches.

10. The gait-locomotor apparatus as claimed in claim 6, wherein said two side crutches are provided with a motorizes system that is adapted to actuate the side crutches and wherein said motorized system is electrically connected to said control unit.

11. The gait-locomotor apparatus as claimed in claim 1, wherein said propulsion system is coupled to articulations between the jointed segments of said exoskeleton bracing system.

12. The gait-locomotor apparatus as claimed in claim 1, wherein said propulsion system comprises linear motors.

13. The gait-locomotor apparatus as claimed in claim 12, wherein two of the motors are adjacent to a hip of the person.

14. The gait-locomotor apparatus as claimed in claim 12, wherein two of the motors are adjacent to the knees of the person.

15. The gait-locomotor apparatus as claimed in claim 12, wherein at least one of the linear motors is provided with a stator provided with a forcer, said stator is attached to one of the jointed support arms, and wherein said forcer is coupled to a lever that is attached to an adjoining support arm.

16. The gait-locomotor apparatus as claimed in claim 15, wherein said lever has a laterally protruding portion, and wherein said forcer is coupled to said portion.

17. The gait-locomotor apparatus as claimed in claim 15, wherein said stator is pivotally connected to the jointed support arm.

18. The gait-locomotor apparatus as claimed in claim 1, wherein said propulsion system comprises a thrust force motor having a linear motor provided with gearing ability, said linear motor is attached to one of the jointed support arms, and wherein a forcer of said linear motor is connected to a belt having two ends, said belt circles about a wheel and is further coupled to a lever attached to an adjoining articulated support arm.

19. The gait-locomotor apparatus as claimed in claim 18, wherein said lever is provided with two opposite lateral protrusions, and wherein each of the two ends of said belt is connected to one of the lateral protrusions of said lever.

20. The gait-locomotor apparatus as claimed in claim 18, wherein said lever is a cogwheel attached in an articulation between jointed support arms.

21. The gait-locomotion apparatus as claimed in claim 1, wherein said propulsion system comprises a thrust force motor in which a linear motor having gearing ability is attached to a jointed support arm between two articulations, and wherein a stator of said linear motor is provided with two adjacent wheels, said stator is provided with a first forcer coupled to a belt, said belt circles about one of the wheels and circles a cogwheel that is attached adjacent to one of the articulations, and wherein said stator is provided with a second forcer coupled to another belt that circles about the other wheel and circles another cogwheel that is attached adjacent to the other articulation.

22. The gait-locomotor apparatus as claimed in claim 1, wherein said propulsion system comprises an air muscle actuator.

23. The gait-locomotor apparatus as claimed in claim 1, wherein said propulsion system comprises a rotary motor.

24. The gait-locomotor apparatus as claimed in claim 23, wherein said rotary motor is positioned in an articulation between jointed support arms of said bracing system.

25. The gait-locomotor apparatus as claimed in claim 24, further comprising a plurality of interacting cogwheels, at least one of the cogwheels is connected by a movable belt to another wheel so as to provide relative movement between the jointed support arms.

26. The gait-locomotor apparatus as claimed in claim 25, wherein said two interacting cogwheels are concentric.

27. The gait-locomotor apparatus as claimed in claim 1, wherein at least one of the sensors is a tilt sensor.

28. The gait-locomotor apparatus as claimed in claim 27, wherein a goniometer is attached to articulations between jointed support arms of said bracing system in order to measure the articulation angle.

29. The gait-locomotor apparatus as claimed in claim 1, wherein at least one of the sensors is an acceleration sensor.

30. The gait-locomotor apparatus as claimed in claim 29, wherein at least one of the sensors is an accelerometer.

31. The gait-locomotor apparatus as claimed in claim 1, wherein said information comprises angles of articulation between jointed support arms of said bracing system.

32. The gait-locomotor apparatus as claimed in claim 1, wherein said information comprises accelerations of body parts of the person.

33. The gait-locomotor apparatus as claimed in claim 1, wherein said information comprises angular velocities.

34. The gait-locomotor apparatus as claimed in claim 1, wherein a processor is incorporated in said control unit, said processor adapted to execute motion control algorithms.

35. The gait-locomotor apparatus as claimed in claim 34, wherein said algorithms comprises commands dictating the angles between the jointed support arms and the position of the jointed support arms so as to perform predetermined modes of operation on said bracing system.

36. The gait-locomotor apparatus as claimed in claim 35, wherein said modes of operation are selected from the group consisting of standing mode, gait mode, climbing mode, descending mode, lie-sit transition mode, sit-stance transition mode, stance-gait transition mode, training mode, learning mode or a combination thereof.

37. The gait-locomotor apparatus as claimed in claim 35, wherein at least one of said modes of operation is initiated by exceeding a threshold value in the angular position of at least one of the jointed support arms.

38. The gait-locomotor apparatus as claimed in claims 36, wherein at least one of said modes of operation is initiated by receiving a signal monitored by at least one of said sensors, said signal indicating that a threshold value has been exceeded in the tilt angle of the torso of the person.

39. The gait-locomotor apparatus as claimed in claim 1, wherein said control unit is communicating with said propulsion system through power drivers.

40. The gait-locomotor apparatus as claimed in claim 1, wherein said control unit is communicating with a man-machine interface adapted to receive commands from the person.

41. The gait-locomotor apparatus as claimed in claim 1, wherein at least one of the sensors is communicating with said control unit through feedback interfaces.

42. The gait-locomotor apparatus as claimed in claim 1, wherein said gait-locomotor apparatus further comprises a safety unit and a built-in test unit.

43. The gait-locomotor apparatus as claimed in claim 42, wherein said safety unit is communicating with said control unit.

44. The gait-locomotor apparatus as claimed in claim 42, wherein said safety unit is communicating with at least one of the sensors.

45. The gait-locomotor apparatus as claimed in claim 1, wherein said gait-locomotor apparatus further comprises a power unit.

46. The gait-locomotor apparatus as claimed in claim 1, wherein at least one of the sensors provides a warning signal.

47. The gait-locomotor apparatus as claimed in claim 46, wherein the warning signal indicates the power status of the gait-locomotor apparatus.

48. The gait-locomotor apparatus as claimed in claim 46, wherein a warning signal indicates currents in said propulsion system.

49. The gait-locomotor apparatus as claimed in claim 1, wherein said gait-locomotor apparatus further comprises at least one temperature sensor.

50. The gait-locomotor apparatus as claimed in claim 49, wherein said gait-locomotor apparatus further comprises overheat protection.

51. The gait-locomotor apparatus as claimed in claim 50, wherein said temperature is monitored in said propulsion system.

52. The gait-locomotor apparatus as claimed in claim 50, wherein said temperature is monitored in said control unit.

53. The gait-locomotor apparatus as claimed in claim 1, wherein said gait-locomotor apparatus further comprises functional electrical stimulation (FES) means.

54. The gait-locomotor apparatus as claimed in claim 53, wherein said gait-locomotor apparatus further comprises FES electrodes, said electrodes are electrically communicating with a signal generator.

55. The gait-locomotor apparatus as claimed in claim 54, wherein said signal generator is communicating with said control unit.

56. The gait-locomotor apparatus as claimed in claim 54, wherein said control unit further comprises commands dictating the electrical signal that is transferred by the FES electrodes.

57. The gait-locomotor apparatus as claimed in claim 53, wherein said control unit further comprises command that activate the FES means.

58. A gait-restoration method for facilitating gait, stance and climb, and transitions between lie-sit-stance positions of a person with a locomotion disability, the method comprising the steps of: providing a gait-locomotor apparatus comprising: an exoskeleton bracing system, comprising jointed support arms for coupling to the trunk of the body and lower limbs of the person; a propulsion system coupled to the exoskeleton bracing system for providing relative movement to parts of the exoskeleton bracing system; a plurality of sensors for sensing tilt of the trunk and angular position of parts of the exoskeleton bracing system; a control unit having an algorithm for accomplishing: receiving information from said plurality of sensors; identifying the relative position of parts of the exoskeleton bracing system; identifying tilt and gait phases; identifying a current mode of operation being manually set by the person via an interface into the control unit; processing the information in accordance with the current mode of operation; and, activating and controlling the propulsion system in accordance with a set of predefined movement modes or patterns; setting a desired operation mode; determining specific movement mode or pattern from the set of predefined movement modes or patterns, upon sensing a tilt of the person, the angle of the tilt and at least a first derivative of the tilt angle; and actuating the propulsion system in accordance with the set of predefined movement modes or patterns.

59. The method of claim 58, wherein the algorithm includes a gait algorithm comprising the following steps: detecting an upper body tilt of the person, determining the angle of the tilt and at least a first derivative of the tilt angle; computing parameters for a gait pattern, selected from the set of predefined movement modes or patterns; initialing a forward step of a first leg of the person by actuating the propulsion system; placing the foot of the first leg on the ground; straightening the knee of first leg; determining when the person reaches an upright position; if another tilt is sensed repeating the above steps replacing the operations performed by the first leg with similar operations to be preformed by the second leg.

60. The method of claim 59 wherein a stairs-climbing algorithm is incorporated.

61. The method of claim 60, wherein the stairs-climbing algorithm is a climbing-up algorithm, comprising: detecting an upper body tilt of the person, determining the angle of the tilt and at least a first derivative of the tilt angle; computing parameters for a stairs-climbing pattern, selected from the set of predefined movement modes or patterns; initiating a forward step of a first leg of the person by actuating the propulsion system, whereby the foot of the first leg is raised; placing down the foot of the first leg; straightening the knee of first leg; determining that the person have reached an upright position; if another tilt is sensed, repeating the above steps replacing the operations performed by the first leg with similar operations to be preformed by the second leg.

62. The method of claim 60, wherein the stairs-climbing algorithm is a climbing-down algorithm, comprising: detecting an upper body tilt of the person, determining the tilt angle and at least a first derivative of the tilt angle; computing parameters for a stairs-climbing pattern, selected from the set of predefined movement modes or patterns; initiating a forward step of a first leg of the person while maintaining a the first leg in a straightened posture, by actuating the propulsion system, whereby the foot of the first leg is raised, while simultaneously folding the knee of the second leg; placing down the foot of the first leg; determining when the person reaches an upright position; if another tilt is sensed repeating the above steps replacing the operations performed by the first leg with similar operations to be preformed by the second leg.

63. The method of claim 58 wherein a turn algorithm is incorporated comprising: sensing an body throwing movement in a certain turn direction; using a first leg of the person as an axis for the turn, forwarding the second leg across in the turn direction.

64. The method of claim 58, wherein a transition algorithm between a lie position, a sit position, and a stance position is incorporated.

---

Description

---

FIELD OF THE INVENTION

The present invention relates to a device and method for walking assistance and locomotion. More particularly, the present invention relates to a device and method for overcoming impeded locomotion disabilities.

BACKGROUND OF THE INVENTION

About 1.6 million people in the USA alone are confined to wheelchairs that serve as their only means of mobility. As a result, their lives are full of endless obstacles such as stairs, rugged pavement and narrow passages. Furthermore, lack in standing position for long periods of time and having only limited upper-body movements, often inflict hazardous health complications. In order to prevent rapid health deterioration, expensive equipment such as standing frames and trainers must be used in addition to ample physio/hydro-therapy.

Functional Electrical Stimulation (FES) is a known method in which electrodes are attached to various bodily parts (legs and thighs) and electrical pulses are applied to the muscles in order to invoke muscles motion and consequently impose a gait. The use of FES is discussed by Kralj, A. in "Gait Restoration in Paraplegic Patients: A Feasibility Demonstration Using Multichannel Surface Electrodes FES", J. Rehab. Res. Dev., vol. 20, pp. 3 20 (1983). In this method, choosing the proper parameters for the pulse sequences (amplitude, shape, frequency and timing) and real-time adapting these parameters along the gait are of the main research areas of that field. While FES is a true muscle-based walking, the main disadvantage of this method is in the fact that it does not provide an effortless usage and an efficient restoration of functional daily activities.

An Example of an approach that addresses the problem of gait restoration is disclosed in U.S. Pat. No. 4,422,453 "External Apparatus for Vertical Stance and Walking for those with Handicapped Motor Systems of the Lower Limbs" by Salort and filed in 1982. In this patent, a corset and girdles are attached to the body. The harness contains strips of flexible metal capable of absorbing and restoring the flexural and torsonal stresses. The locomotive force in this case is bodily based and is actually a reciprocal gait orthosis (RGO), which is a walk-assisting device, that does not provide a practical daily solution to the handicapped person. Other examples of RGO devices are disclosed in U.S. Pat. No. 5,961,476 "Walk Assisting Apparatus" by Betto et al., filed in 1997 and U.S. Pat. No. 4,946,156 by Hart, filed in 1988. The first patent by Betto discloses a walk assisting apparatus that comprises full leg brace for both legs interconnected by links to the coxa so as to provide leg supports to make the alternate walk properly. The later patent by Hart discloses a reciprocation gait orthosis that comprises hip joints coupled to a push/pull member, which is thigh fit, as well as two limb members.

In general, the RGO are non-motorized brace systems that are wore by the user, while the user himself performs the locomotion. Any type from the available RGO is better fitted as a trainer than a functional walking aid.

Motorized bracing system is disclosed in U.S. Pat. No. 5,961,541 "Orthopedic Apparatus for Walking and Rehabilitating Disabled Persons Including Tetraplegic Persons and for Facilitating and Stimulating the Revival of Comatose Patients through the Use of Electronic and Virtual Reality Units" by Farrati, filed in 1998. This patent discloses an exoskeleton for the support of a patient's body that is jointed opposite the hip and knee articulations, and is provided with a number of small actuators that are designed to move jointed parts of the exoskeleton in accordance with the human gait. Though the bracing system is motorized, it is a therapeutic device that is not intended for daily functional locomotive activities. The apparatus is confined along a rail or a conveyor, where the user is not involved in the walking process beyond starting and stopping the gait.

Another locomotion aid, a self-contained electronically controlled dynamic knee-brace system, which aim to add a flexion to knee orthosis is disclosed by Irby et al. in "Automatic Control Design for a Dynamic Knee-Brace System", IEEE Trans. Rehab. Eng., vol. 7, pp. 135 139 (1999).

All the above discussed rehabilitation devices for disabled persons confined to wheelchairs as well as available devices in rehabilitation institutions are used for training purposes only. A solution that enables daily independent activities that restore the dignity of handicapped persons, dramatically ease their lives, extend their life expectancies and reduce medical and other related expenses is so far not available.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a new and unique gait-locomotor apparatus and method that is a detachable light gait-locomotive orthosis.

It is another object of the present invention to provide a gait-locomotor apparatus in which the user is involved in the gait-restoration process.

It is yet another object of the present invention to provide a gait-locomotor apparatus in which natural and intentional upper-body movements (tilts) are used to initiate and maintain gait as well as determine various parameters without the need to use hands or voice for commanding the device. The device of the present invention offers, for the first time, a practical solution to many of the daily mobility functions.

It is an additional object of the present invention to provide a new and unique method to enable disabled people to walk using a gait-locomotor apparatus.

It is thus provided a gait-locomotor apparatus that is wore on a disabled user, said gait-locomotor apparatus comprising: a brace having a plurality of jointed segments, said brace adapted to fit the lower body of the disabled user; propulsion means adapted to provide relative movement between said plurality of jointed segments; at least one sensor adapted to monitor the angular position of at least one of said plurality of jointed segments; a control unit adapted to supervise said propulsion means and to receive feedback information from said at least one sensor so as to facilitate said brace to perform walking patterns; whereby the disabled user that wears said gait-locomotor apparatus is able to steadily stand in a stance position supported by said brace, and is able to walk in various walking patterns using said control unit.

Furthermore in accordance with another preferred embodiment of the present invention, said brace comprises a torso brace and a pelvis brace adapted to fit the user's trunk, two thigh braces adapted to fit the user's thighs, and two leg braces adapted to fit the user's legs and feet.

Furthermore in accordance with another preferred embodiment of the present invention, stabilizing shoes are provided and are attached to the brace, said stabilizing shoes are adapted to increase the lateral stability.

Furthermore in accordance with another preferred embodiment of the present invention, said stabilizing shoes are adapted to maintain a side lean.

Furthermore in accordance with another preferred embodiment of the present invention, said stabilizing shoes are provided with a rounded bottom.

Furthermore in accordance with another preferred embodiment of the present invention, said brace is provided with two side crutches adapted to provide direct support to the user.

Furthermore in accordance with another preferred embodiment of the present invention, said two side crutches are retractable so as to facilitate height adjustments.

Furthermore in accordance with another preferred embodiment of the present invention, each one of said two side crutches comprises at least two members that are telescopically connected so as to adjust the side crutch length.

Furthermore in accordance with another preferred embodiment of the present invention, each of said two side crutches is provided with a handle that facilitates the user to grasp the crutches.

Furthermore in accordance with another preferred embodiment of the present invention, said two side crutches are provided with a motorizes system that is adapted to actuate the side crutches and wherein said motorized system is electrically connected to said control unit.

Furthermore in accordance with another preferred embodiment of the present invention, said propulsion means are positioned in or proximal to articulations between the jointed segments of said brace.

Furthermore in accordance with another preferred embodiment of the present invention, said propulsion means are linear motors.

Furthermore in accordance with another preferred embodiment of the present invention, two of said linear motor are adjacent to the user's hip.

Furthermore in accordance with another preferred embodiment of the present invention, two of said linear motors are adjacent to the user's knees.

Furthermore in accordance with another preferred embodiment of the present invention, at least one of the linear motors is provided with a stator provided with a forcer, said stator is attached to one of the jointed segments, and wherein said forcer is coupled to a lever that is attached to the adjoining segment.

Furthermore in accordance with another preferred embodiment of the present invention, said lever having a laterally protruding portion, and wherein said forcer is coupled to said portion.

Furthermore in accordance with another preferred embodiment of the present invention, said stator is pivotally connected to the jointed segment.

Furthermore in accordance with another preferred embodiment of the present invention, said propulsion means is a thrust force motor having a linear motor provided with gearing ability, said linear motor is attached to one of the jointed segments, and wherein a forcer of said linear motor is connected to a belt having two ends, said belt circles about a wheel and is further coupled to a lever attached to the adjoining articulated segment.

Furthermore in accordance with another preferred embodiment of the present invention, said lever is provided with two opposite lateral protrusions, and wherein each of the two ends of said belt is connected to one of the lateral protrusions of said lever.

Furthermore in accordance with another preferred embodiment of the present invention, said lever is a cogwheel that is attached in an articulation between the jointed segments.

Furthermore, on accordance with another preferred embodiment of the present invention, said propulsion means comprises a thrust force motor in which a linear motor having gearing ability is attached to a jointed segment between two articulations, and wherein a stator of said linear motor is provided with two adjacent wheels, said stator is provided with a first forcer coupled to a belt, said belt circles about one of the wheels and circles a cogwheel that is attached adjacent to one of the articulations, and wherein said stator is provided with a second forcer coupled to another belt that circles about the other wheel and circles another cogwheel that is attached adjacent to the other articulation.

Furthermore in accordance with another preferred embodiment of the present invention, said propulsion means is an air muscle actuator.

Furthermore in accordance with another preferred embodiment of the present invention, said propulsion means is a rotary motor.

Furthermore in accordance with another preferred embodiment of the present invention, said rotary motor is positioned in an articulation between the jointed segments of said brace.

Furthermore in accordance with another preferred embodiment of the present invention, two interacting cogwheels, one of the cogwheels is connected by a movable belt to another wheel so as to provide relative movement between the jointed segments.

Furthermore in accordance with another preferred embodiment of the present invention, said two interacting cogwheels are concentric.

Furthermore in accordance with another preferred embodiment of the present invention, said at least one sensor is a tilt sensor.

Furthermore in accordance with another preferred embodiment of the present invention, a goniometer is attached to articulations between the jointed segments of said brace in order to measure the articulation angle.

Furthermore in accordance with another preferred embodiment of the present invention, said at least one sensor is an acceleration sensor.

Furthermore in accordance with another preferred embodiment of the present invention, said at least one sensor is an accelerometer.

Furthermore in accordance with another preferred embodiment of the present invention, said feedback information can be angles of articulation between the jointed segments of said brace.

Furthermore in accordance with another preferred embodiment of the present invention, said feedback information can be accelerations of the user's body parts.

Furthermore in accordance with another preferred embodiment of the present invention, said feedback information can be angular velocities.

Furthermore in accordance with another preferred embodiment of the present invention, a processor is incorporated in said control unit, said processor comprises algorithms.

Furthermore in accordance with another preferred embodiment of the present invention, said algorithms comprises commands dictating the angles between the jointed segments and the position of the jointed segments so as to perform modes of operation on said brace.

Furthermore in accordance with another preferred embodiment of the present invention, said modes of operation are from the group of standing mode, gait mode, climbing mode, descending mode, lie-sit transition mode, sit-stance transition mode, stance-gait transition mode, training mode, learning mode.

Furthermore in accordance with another preferred embodiment of the present invention, at least one of said modes of operation is initiated by exceeding a threshold value in the angular position of at least one of the jointed segments.

Furthermore in accordance with another preferred embodiment of the present invention, at least one of said modes of operation is initiated by receiving a signal monitored by said tilt sensor, said signal exceeds a threshold value in the tilt angle of the user's torso.

Furthermore in accordance with another preferred embodiment of the present invention, said control unit is communicating with said propulsion means through power drivers.

Furthermore in accordance with another preferred embodiment of the present invention, said control unit is communicating with a man-machine interface so as to receive commands from the user.

Furthermore in accordance with another preferred embodiment of the present invention, at least one sensor is communicating with said control unit through feedback interfaces.

Furthermore in accordance with another preferred embodiment of the present invention, said gait-locomotor apparatus further comprises a safety unit and a built-in test unit.

Furthermore in accordance with another preferred embodiment of the present invention, said safety unit is communicating with said control unit.

Furthermore in accordance with another preferred embodiment of the present invention, said safety unit is communicating with said at least one sensor.

Furthermore in accordance with another preferred embodiment of the present invention, said gait-locomotor apparatus is further comprises a power unit.

Furthermore in accordance with another preferred embodiment of the present invention, said at least one sensor provides a warning signal.

Furthermore in accordance with another preferred embodiment of the present invention, a warning signal indicates the status of said battery.

Furthermore in accordance with another preferred embodiment of the present invention, a warning signal indicates currents in said propulsion means.

Furthermore in accordance with another preferred embodiment of the present invention, said gait-locomotor apparatus is further comprises at least one temperature sensor.

Furthermore in accordance with another preferred embodiment of the present invention, said warning signal indicates temperature monitored by the temperature sensor in order to facilitate overheat protection.

Furthermore in accordance with another preferred embodiment of the present invention, said temperature is monitored in said propulsion means.

Furthermore in accordance with another preferred embodiment of the present invention, said temperature is monitored in said control unit.

Furthermore in accordance with another preferred embodiment of the present invention, said gait-locomotor apparatus further comprises a functional electrical stimulation (FES), said FES is electrically connected to said control unit.

Furthermore in accordance with another preferred embodiment of the present invention, said gait-locomotor apparatus further comprises electrodes, said electrodes are electrically communicating with a signal generator so that an electrical signal is transferred by the electrodes.

Furthermore in accordance with another preferred embodiment of the present invention, said signal generator is communicating with said control unit.

Furthermore in accordance with another preferred embodiment of the present invention, said algorithms further comprises commands dictating the electrical signal that is transferred by the electrodes.

In accordance with another preferred embodiment of the present invention, said algorithm further comprises command that activate the FES.

It is thus further provided a method for facilitating disabled user to walk using a gait-locomotor apparatus, said method comprises: providing a gait-locomotor apparatus, said gait-locomotor apparatus comprises: a brace having a plurality of jointed segments, said brace adapted to fit the lower body of the disabled user; propulsion means adapted to provide relative movement between said plurality of jointed segments; at least one sensor adapted to monitor the angular position of at least one of said plurality of jointed segments; a control unit adapted to supervise said propulsion means and to receive feedback information from said at least one sensor so as to facilitate said brace to perform walking patterns; wearing said brace on the user's lower body parts; tilting the user's upper body in order to initiate a response in said control unit so as to actuate said propulsion means and to move said brace in order to perform walking patterns; commanding said control unit to stop operation or to change actuation; whereby the upper body tilts activate and synchronize the gait.

In accordance with another preferred embodiment of the present invention, said method further comprises providing electrodes; providing signal generator, said signal generator is electrically communicating with said electrodes; attaching said electrodes to the user; commanding said control unit to actuate said signal generator.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1a illustrates a block diagram of a gait-locomotor apparatus in accordance with a preferred embodiment of the present invention.

FIG. 1b illustrates a front view (i) and a side view (ii) of a gait-locomotor apparatus in accordance with a preferred embodiment of the present invention, wore by a user.

FIG. 2a illustrates a schematic side view of a trunk-to-thigh linear motor in accordance with a preferred embodiment of the present invention.

FIG. 2b illustrates a schematic side view of a trunk-to-thigh linear motor in accordance with another preferred embodiment of the present invention.

FIG. 3a illustrates a schematic side view of a thigh-to-leg linear motor in accordance with a preferred embodiment of the present invention.

FIG. 3b illustrates a schematic side view of a thigh-to-leg air-muscle motor in accordance with another preferred embodiment of the present invention.

FIG. 4 illustrates a brace-motorization model in accordance with a preferred embodiment of the present invention.

FIG. 5a illustrates graphically the maximum required thigh-motor force versus thigh angle (.theta..sub.L=.theta..sub.T) for various tilt angles, .alpha..sub.T. The calculations were conducted with respect to the model shown in FIG. 4.

FIG. 5b illustrates graphically possible forcer-to-hip distance versus thigh angle (.theta..sub.T) for various tilt angles .alpha..sub.T. The calculations were conducted with respect to the model shown in FIG. 4.

FIG. 6 illustrates graphically possible thigh-motor thrust force versus leg angle (.theta..sub.L) for various thigh angles, .theta..sub.T. The leg angle for each thigh angle ranges from -20.degree. to .theta..sub.L=.theta..sub.T (straight limb). .alpha..sub.T=70.degree.. The calculations were conducted with respect to the model shown in FIG. 4.

FIG. 7a illustrates graphically possible required leg-motor force versus leg angle (.theta..sub.T=25.degree.) for various tilt angles, .alpha..sub.L. The calculations were conducted with respect to the model shown in FIG. 4.

FIG. 7b illustrates graphically possible forcer-to-knee distance versus leg angle (.theta..sub.T=25.degree.) for various tilt angles .alpha..sub.L. The calculations were conducted with respect to the model shown in FIG. 4.

FIG. 8 illustrates graphically possible leg-motor thrust force versus leg angle (.theta..sub.L) for various thigh angles, .theta..sub.T. The leg angle for each thigh angle ranges from -20.degree. to .theta..sub.L=.theta..sub.T (straight limb). The calculations were conducted with respect to the model shown in FIG. 4.

FIG. 9a illustrates a schematic representation of a linear motor with a dual-lever arrangement in accordance with another preferred embodiment of the present invention.

FIG. 9b illustrates a schematic representation of a linear motor with a cogwheel arrangement in accordance with yet another preferred embodiment of the present invention.

FIG. 9c illustrates a schematic representation of a linear motor having double actuation in accordance with an additional preferred embodiment of the present invention.

FIG. 10 illustrates a schematic side view of trunk-to-thigh and thigh-to-leg air-muscle actuators in accordance with an additional preferred embodiment of the present invention.

FIGS. 11a and b illustrate schematic side views of two optional configurations of a geared trunk-to-thigh rotary motors in accordance with yet another preferred embodiments of the present invention.

FIG. 12 illustrates a schematic schema for real-time control realization in accordance with a preferred embodiment of the present invention.

FIG. 13 illustrates a gait mode algorithm in accordance with a preferred embodiment of the present invention.

FIG. 14 illustrates a lie-sit-stance transition procedure in accordance with a preferred embodiment of the present invention.

FIG. 15 illustrates a schematic view of side poles attached to the bracing system in accordance with a preferred embodiment of the present invention.

FIG. 16a illustrates a schematic back view of a left shoe in accordance with a preferred embodiment of the present invention.

FIG. 16b illustrates a schematic side view of the left shoe shown in FIG. 16a.

FIG. 17 illustrates a descent mode algorithm in accordance with a preferred embodiment of the present invention.

FIG. 18 illustrates a block diagram of a gait-locomotor apparatus in accordance with another preferred embodiment of the present invention, incorporated with a FES system.

FIG. 19 illustrates a gait mode algorithm in accordance with another preferred embodiment of the present invention, incorporated with FES system.

FIG. 20 illustrates exemplified gait pattern phases of a single limb in accordance with a preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION AND FIGURES

The gait-locomotor apparatus of the present invention is a unique motorized brace system for the lower body and lower limbs that is attached to the user's body, preferably under the clothes, and enables the user to restore daily activities, especially stance and gait abilities. In addition to stance and locomotion, the gait-locomotor apparatus supports other mobility functions such as upright position to sitting position transitions and stairs climbing and descending. The gait-locomotor apparatus suits disabilities such as paraplegia, quadriplegia, hemiplegia, polio-resultant paralysis and individuals with severe walking difficulty.

The main purpose of the present invention is to provide a device that allows vertical stance and locomotion by means of an independent device that generally comprises a detachable light supporting structure as well as a propulsion and control means. The gait-locomotor apparatus of the present invention makes it possible to relieve the incompetence of postural tonus as well as reconstituting the physiological mechanism of the podal support and walking. Consequently, the device will reduce the need for wheelchairs among the disabled community; it will provide a better independence and ability to overcome obstacles such as stairs.

Reference is now made to FIG. 1a illustrating a block diagram of a gait-locomotor apparatus in accordance with a preferred embodiment of the present invention. The gait-locomotor apparatus of the present invention comprises a brace system 10 that supports parts of the body, such as pelvic corset, thighs and legs orthoses. All the bracing components of brace system 10 are rigid enough so as to support an average body weight, however light enough so it does not impose additional stress on the user's body. Brace system 10 contains means of propulsion (e.g., motors and batteries) that are attached to parts of the lower half of the body and to the limbs as will be comprehensively explained herein after.

A relatively small control unit 12, preferably mounted on the body as well, supervises the motion of brace system 10 and creates stance and gait movements. Control unit 12 executes programs and algorithms in an incorporated processor 14 that constantly interact with movements of the upper part of the body, thus walking patterns and stability are achieved with the help of the user. Control unit 12 commands brace system 10 via power drivers 18. Control unit 12 contains a dedicated electronic circuitry 26, as well. A sensor unit 20 that contains various sensors, monitors parameters of brace system 10 such as torso tilt angle, articulation angles, motor load and warnings, and transfers the information to control unit 12 via feedback interfaces 22. Selective information from the sensors may be transferred also to a safety unit 24. Sensor unit 20 contains components among which are tilt and acceleration sensors that are located on the torso. These sensors sense and measure tilt angles, angular velocities and accelerations.

The gait-locomotor apparatus further comprises a Man-Machine Interface, MMI 16, through which the person controls modes of operation and parameters of the device, such as gait mode, sitting mode and standing mode. Preferably, the user may receive various indications through MMI 16 or to transfer his command and shift motor's gear according to his will through keyboard 17.

The gait-locomotor apparatus further comprises a power unit 28 that preferably includes rechargeable batteries and related circuitry.

Safety unit 24 acts also as an emergency and BIT unit (Built-In Test=`BIT`) that may accept feedback signals from all components of the gait-locomotor apparatus, and invokes test signals. The purpose of safety unit 24 is to prevent hazardous situations and system failure.

As mentioned, brace system 10 comprises braces and propulsion means. The braces act as a supporting structure that is light and detachable, making it possible to relieve the incompetence of postural tonus as well as reconstitute the physiological mechanism of the podal support and the walking action. The support supplied by the braces is attained from the feet and ankle up, preferably, to the torso depending on the level of injury (in a spinal-cord injury case) or the severity of the disability. Detachable light braces are available commercially. For example, a rigid corset that supports the abdomen and pelvic, and orthoses that support the hip, knee and ankle are manufactured by AliMed Inc. or by Nor Cal Design. Other bracing devices were mentioned herein before in the patent literature (U.S. Pat. No. 5,961,476 and U.S. Pat. No. 4,946,156). The available bracing systems support the torso, thighs, legs and feet and are provided with joints at the locations of the hips, knees and ankles articulations. The brace system of the present invention is generally divided into segments that are adjacent to the trunk, thighs, legs and feet.

Reference is now made to FIG. 1b illustrating a front view (i) and a side view (ii) of a gait-locomotor apparatus in accordance with a preferred embodiment of the present invention, wore on a user. As mentioned, the brace segments of the brace system are wore adjacent to the parts of a user's body. A pelvis brace 1 is wore on the trunk, the lower body part. Thigh braces 2 are wore adjacent to the thighs, and leg and feet braces 3 are wore accordingly on the legs and foot. Stabilizing shoes 4 are attached to the bottom of leg and feet braces 3 as will be explained herein after. In the junctions between the segments of the brace system, adjacent to the hip and the knee, hip motors 7 and knee motors 8, respectively, are provided. The motors enable the hip and knee articulations to pivot so as to achieve natural walking movements. Rotary motors such as the ones shown in FIG. 1b (ii) may be applied in the articulations as well as linear motors or any other combination as will be explained comprehensively herein after. The electronic subsystems that comprises the control unit, the sensors, the MMI, the safety unit and the interfaces units are preferably incorporated into an electronic unit 5 that is preferably positioned in the front of the body, below the chest area. A power unit 6 is preferably positioned in the back area. It is optional to separate the electronic units in any other combination and to attach them to any other suitable body part such as pelvis and thigh sides.

The bracing structure may include a mechanism that maintains a desired distance between the legs, thus undesired straddle or joining of the legs is prevented. This spacing mechanism, preferably a combination of flexible metal strips and springs, can be located, as an arc, between the inner sides of the thighs, adjacent the crotch. The spacing mechanism can also be a structure pressing the thighs at their outer sides. In the latter case, the mechanism may include a sort of an oval ring located at the pelvic perimeter, with two extending semi-flexible metal strips at the sides, pressing the thigh braces. The leg-spacing mechanism, can be active (i.e., motorized) or passive (e.g., a flexible metal strip). A passive arrangement, in which the spacing is fixed to an average value, suffices for all practical locomotion purposes, similar to locomotion of normal able-bodied persons.

The braces are provided with a propulsion means that affords a relative movement between various brace system parts. The propulsion means may be any type of motor such as linear motors, air-muscle motors or rotary motors.

Reference is now made to FIG. 2a illustrating a schematic side view of a trunk-to-thigh linear motor in accordance with a preferred embodiment of the present invention. A linear motor 100 is adjacent to a trunk 102 of a user. Linear motor 100 comprises a stator 104 that is connected to the brace in a position so that when the user wears the brace, stator 104 is positioned in the frontal portion of the abdomen. A forcer 106 (the rotor of the motor) is the movable part of the motor that moves in the directions that are indicated by arrows 108 upwardly and downwardly on stator 104, and is connected by a connecting means, preferably at least one strip 110, to a lever 112. Strip 110 is adapted to transfer the force of the motor to the lever. A portion of lever 112 is connected or integrated in the brace that is adjacent to the thigh 114 of the user and the other portion that is connected to strip 110 laterally protrudes from the longitudinal direction of the thigh. The protruded portion may be substantially perpendicular to the thigh adjacent portion but may be in any other angle regarding the thigh, as will be explained herein after. When strip 110 is pulled or pushed by forcer 106, thigh 114 may rotate about the hip 116 in the directions indicated by arrows 118. When forcer 106 is in an upward position, thigh 114 is advancing towards trunk 102 performing a pace movement while when forcer 106 is in a downwards position, thigh 114 straightens regarding trunk 102.

Reference is now made to FIG. 2b, illustrating a schematic side view of a trunk-to-thigh linear motor in accordance with another preferred embodiment of the present invention. Linear motor 150 is adjacent to the side of trunk 102. Stator 152 is pivotally connected to the brace system that envelops trunk 102 (the brace system is not shown in FIG. 2b) by a pivot pin 154. This arrangement allows linear motor 150 to pivot during the pace and increases the efficiency of the device. Linear motor 150 is connected to a lever 112 having a portion that is adjacent to the thigh and facilitates its upward and downward movements such as in the previously described embodiment.

Reference is now made to FIG. 3a illustrating a schematic side view of a thigh-to-leg linear motor in accordance with a preferred embodiment of the present invention. Similar concept as the one used for the pivoting movement of the thigh with regard to the trunk may be applied for the pivoting movement of a leg 150 in regard with the thigh 152 about knee 154. Linear motor 156 is positioned on the brace so that it will be adjacent to thigh 152. Forcer 158 that slides on stator 160, is attached by a strip 162 to a portion of a lever 164 that laterally protrudes from the longitudinal axis of leg 150 or the part of the brace system that is attached to it. The other portion of lever 164 is parallel and adjacent to leg 150. When forcer 158 moves in an upward and downward directions as indicated by arrows 166, the leg pivots in the directions indicated by arrows 168.

Reference is now made to FIG. 3b illustrating a schematic side view of a thigh-to-leg air-muscle motor in accordance with another preferred embodiment of the present invention. Elongation and contraction activate an air-muscle 170 that is attached at one end to a part of the thigh brace 172 and at the other end, to a lever 174 that is a part of the leg brace. Part of the thigh brace 172 is positioned relatively close to knee 154 in the folding area and lever 174 is positioned on the back of the foot and may be attached to a foot brace 176. When air-muscle 170 is fully elongated, leg 150 is substantially parallel to thigh 152, while when air muscle 170 is contracted, leg 150 is pulled towards thigh 152.

In order to estimate the trust force and the energies required from linear motors such as the ones shown in FIGS. 2a, 2b, 3a and 3b, a human and brace motorization model was built. Reference is now made to FIG. 4 illustrating a brace-motorization model in accordance with a preferred embodiment of the present invention. The model assumes two linear motors (per limb) that are attached to the pelvis/abdomen and to the thigh and actuate a pivotal movement of the hip and the knee, respectively. As explained herein before, the levers are made of two portions, one of which is substantially perpendicular to the thigh or the leg, but may be with any other angle in regard to the other portion, the angle is designated as .alpha..sub.T or .alpha..sub.L, as will be explained in the model, and is connected by a strip to the motor. The perpendicular portions that are designated as e.sub.L and e.sub.T are needed to create a leverage. The parameters that are taken into account in the design of the perpendicular portions are: Power transmission efficiency Trade-off between thrust force and forcer travel-distance range The design parameters of the perpendicular portions are their length (e.sub.L and e.sub.T) and their tilt angle with respect to the thigh or leg (.alpha..sub.L and .alpha..sub.T). The following parameters are also taken into account:

TABLE-US-00001 m.sub.T: thigh mass m.sub.L: leg mass L.sub.T: thigh length L.sub.L: leg length d.sub.T: length of the thigh- d.sub.L: length of the leg- driving rod driving rod .theta..sub.T: angle between thigh .theta..sub.L: angle between leg and and ground normal in ground normal in the the gait mode, or, gait mode, or, between between torso torso prolongation and prolongation and leg in other modes. thigh in other modes. Note that: .theta..sub.LMIN .ltoreq. .theta..sub.L .ltoreq. .theta..sub.T e.sub.T: length of the thigh- e.sub.L: length of the leg- brace extension brace extension .alpha..sub.T: thigh-brace extension .alpha..sub.L: leg-brace extension tilt angle with respect tilt angle with respect to the thigh to the leg a.sub.P: distance between thigh a.sub.T: distance between leg forcer and the hip forcer and the knee a.sub.Pmin: the minimum value of a.sub.Tmin: the minimum value of a.sub.P a.sub.T R.sub.T: range (travel distance) R.sub.L: range (travel distance) of the thigh forcer of the leg forcer Fmotor.sub.T: thrust force of the Fmotor.sub.L: thrust force of the thigh motor leg motor

Reference is now made to FIGS. 5 8 that illustrate the thrusting forces needed to support a walk. FIGS. 5 and 6 correspond to the thigh motor and FIGS. 7 and 8, to the leg motor. The calculations were carried out using the following exemplified values for the former parameters:

TABLE-US-00002 m.sub.T = 8 Kg m.sub.L = 4 Kg L.sub.T = 40 cm L.sub.L = 40 cm -10.degree. .ltoreq. .theta..sub.T .ltoreq. 60.degree. -10.degree. .ltoreq. .theta..sub.L .ltoreq. .theta..sub.T e.sub.T = 20 cm e.sub.L = 10 cm a.sub.Pmin = 10 cm a.sub.Tmin = 20 cm .alpha..sub.T = 70.degree. .alpha..sub.L = 110.degree.

FIGS. 5 and 6 address the thigh motor. FIG. 5a depicts the maximum required force (F.sub.motor in NT) versus the thigh angle (.theta..sub.T) Maximum F.sub.motor or maximum torque is obtained by setting .theta..sub.L=.theta..sub.T. FIG. 5b depicts the forcer-to-hip distance, a.sub.p, or the forcer travel distance, R.sub.T, versus the thigh angle (.theta..sub.T). The plots illustrate various tilt angles (.alpha..sub.T) of the perpendicular portion in regard to the thigh.

In this example, choosing .alpha..sub.T between 40.degree. and 55.degree. yields good combinations of low travel distance and force. The required thrust force is about 200 NT and the forcer travel range for -10.degree..ltoreq..theta..sub.T.ltoreq.60.degree. is about 16 cm. Smaller range can be traded for larger thrust. Normal gait doesn't require thigh angles larger than 25.degree., and in that case the peak thrust is less than 150 NT and forcer range of about 6 cm (for .alpha..sub.T=55.degree.).

FIG. 6 exemplifies thrust force versus leg angle, .theta..sub.L, for various thigh angles, .theta..sub.T. The leg angle, for each thigh angle, ranges here from -20.degree. to .theta..sub.L=.theta..sub.T (strait limb), the laterally protruded portion's tilt angle is .alpha..sub.T=70.degree..

FIGS. 7 and 8 address the leg motor. FIG. 7a depicts the required force (F.sub.motor in NT) versus the leg angle (.theta..sub.L) for thigh angle .theta..sub.T=25.degree.. FIG. 7b depicts the forcer-to-knee distance, a.sub.T, versus the leg angle. The plots illustrate various tilt angles (.alpha..sub.T).

The conclusions that may be withdrawn from the above exemplified data are that a thrust force of 40 NT is sufficient for a travel