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WO2014179855A2 - Continuous exoskeleton track suitable as an orthesis assisting human locomotion - Google Patents

Continuous exoskeleton track suitable as an orthesis assisting human locomotion Download PDF

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Publication number
WO2014179855A2
WO2014179855A2 PCT/BR2014/000152 BR2014000152W WO2014179855A2 WO 2014179855 A2 WO2014179855 A2 WO 2014179855A2 BR 2014000152 W BR2014000152 W BR 2014000152W WO 2014179855 A2 WO2014179855 A2 WO 2014179855A2
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
orthesis
locomotion
exoskelet
aid
Prior art date
Application number
PCT/BR2014/000152
Other languages
French (fr)
Portuguese (pt)
Other versions
WO2014179855A3 (en
Inventor
Gilmar José ALVES DE CARVALHO
Original Assignee
Alves De Carvalho Gilmar José
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alves De Carvalho Gilmar José filed Critical Alves De Carvalho Gilmar José
Publication of WO2014179855A2 publication Critical patent/WO2014179855A2/en
Publication of WO2014179855A3 publication Critical patent/WO2014179855A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
    • A61G5/066—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with endless belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/36—General characteristics of devices characterised by sensor means for motion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/42—General characteristics of devices characterised by sensor means for inclination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces

Definitions

  • the present invention relates to an orthosis composed of an exoskeleton integrated with a treadmill for human mobility, mainly intended for people with physical disabilities.
  • this orthosis is defined as Exoskeleton.
  • This exoskeleton is comprised of an articulated and structured body support garment with rigid and flexible parts that fit anatomically to the wearer's body.
  • This exoskeleton structure is integrated into an electrically powered system with a traction belt for locomotion.
  • This device is user controlled using an electronic microprocessor control system. It has integrated to the electronic system a gyroscope that helps in maintaining the balance of the apparatus.
  • the wheelchair is a technology basically composed of a structured accent in the form of a wheelchair and can be composed with a motorized system or not.
  • the main differences are in the structural format.
  • the wheelchair provides a support for the user in the shape of a chair.
  • the Exoskeleton this patent application, consists of an exoskeleton that supports the body as a second skeleton that articulates with the user's body joints, allowing the maintenance of posture in different positions.
  • the wheelchair integrates the wheelchair for the user's mobility.
  • the Exoskeleton integrates an exoskeleton with a motorized traction treadmill for the user's mobility.
  • the Exoskeleton has a anthropomorphic structure that integrates with the body structure of the user while the wheelchair is limited to a support structure with an accent for the user.
  • robotic orthoses that provide support structure and generate movement or increase movement capacity automatically.
  • Today's main robotic orthoses are: Berkeley Bionicso (USA) eLegs, Rex Bionics Dubbed Rex, Hyundai-made Walk Assist, Robo Knee, Hal, ReWalk and Blex.
  • the main difference between a robotic exoskeleton and the Exoskeleton of the present patent application is the characteristic of locomotion employed.
  • the robotic exoskeleton has body support and generates joint movement in the user for walking or walking.
  • Exoskeleton offers body support acts directly on the individual's full displacement, without the need for gait or stride for locomotion.
  • the treadmill exoskeleton prosthesis of this project presents itself as a viable solution to meet many of the mobility difficulties of people with physical disabilities. It can bridge a gap between the wheelchair and the robotic exoskeleton.
  • the Exoskeleton is characterized by treadmills for offering some advantages compared to traction on wheels.
  • the treadmill offers great traction grip on different surfaces and has a larger weight distribution area near the ground.
  • the Exoskeletal Mat eliminates the use of crutches to compensate for balance.
  • the entire system is automatically self-balancing with stability control via sensors.
  • the treadmill of this orthosis allows the user to move over flat terrain, terrain with small irregularities, small obstacles, up and down stairs present in urban and built environment.
  • the stability domain occurs by monitoring and controlling the orthosis and user center of gravity through a remote system composed of a microprocessor, an inclinometer or gyroscope. With the data of this monitoring the microprocessor or the user controls the electric actuators that keeps the whole system balanced and stable.
  • the exoskeleton that makes up this orthosis has a morphological structure adapted to the human anatomy. Allows the user to opt for a sitting and standing position or for an intermediate position. This facilitates the activities of daily living and the social integration of the individual.
  • Figure 1 illustrates the Exoskeleton (1) with a belt-stabilized user (2) (3) standing up.
  • FIG. 2 shows chassis (4), axles (5), wheels (6), ground drive belts (7), exoskeleton anchor part (8) on track frame, control actuator anchor part (9) and tensioning belt tension adjusting screw (10).
  • Figure 3 illustrates the arrangement of motors (11), motor shaft pulley (12), motor / wheel drive pulley (13), motor drive belts (14), motor anchor part (15), wheel (16) and batteries (17).
  • Figure 4 shows the structural components of the exoskeleton: heel joint part (18), leg part (19), lower knee joint part (20), upper knee joint part (21), seat support part (22), seat (23), column piece (24), column backrest (25). It also shows the Exoesqueletoesteira's fairing parts (26).
  • Figure 5 illustrates balance actuators (27), knee position articulation actuators (28), trunk articulation actuator (29), exoskeleton joints (30), and control center (31).
  • Figure 6 illustrates the Exoskeleton track with two-wheel tracks each and articulation with torque reduction box (32) and cross-frame cross member.
  • the Exoskeleton (1) object of the present patent application is constituted by an exoskeleton articulated with a treadmill that promotes the locomotion of the user.
  • This exoskeleton has a modular articulated structure and is composed of pieces (18, 19, 20, 21, 22, 23, 24, 25) that attach to the user's body.
  • the exoskeleton being articulates between the sitting and standing position. These position variations are promoted by electric or hydraulic actuators (27, 28, 29) that generate movements in the exoskeleton joints (30) and consequently in the individual's joints.
  • One of the exoskeleton joints (30) is positioned close to the ankle joint.
  • Actuators (27) attached (9) close to the chassis flex and extend the articulation allowing the user body to tilt forward or backward.
  • Another exoskeleton joint (30) integrates the knee joints.
  • actuators (28) promote knee flexion and extension. This allows the individual to be positioned between sitting / crouching and standing position.
  • a third exoskeleton joint (30) is positioned in the transverse plane, aligned with the femoral thigh joints.
  • this joint allows the flexion and extension of the hip, enabling together with the other joints (30), the sitting and standing positions.
  • the Exoskeletal Joints joints that articulate with the user's ankles and knees may be positioned posteriorly or in the internal lateral position of the lower limbs.
  • This articulated exoskeleton is anchored (8) to a motorized treadmill that promotes the user's dislocation.
  • This track is a locomotive vehicle with two battery-powered engines (11) (17) secured by a motor anchor (15) near the chassis (4).
  • Locomotion of the Exoskeletal Belt occurs by means of a power transmission to a system of axles, wheels and belts (5, 6, 7, 12, 13, 14, 16) along the ground.
  • the exoskeleton belt forms the basis of the entire system and allows traction for locomotion on different terrains. It is designed to go up and down stairs.
  • This treadmill consists of wheels (6, 16) surrounded by a tensioning belt (7), which makes traction with the ground. It has two engines (1), one for each set of wheels and drive belts.
  • the Exoskeleton has a control center (31) of the system.
  • this center is a data processing board, drive board, power board, software, gyroscope, microcontroller, gyroscope and electronic components.
  • a joystick connected to this center the user can control the starting, brake, traction force and speed, steering and balance of the Exoskeleton.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Nursing (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

A continuous exoskeleton track suitable as an orthesis assisting human locomotion comprises a body-supporting orthesis with a modular articulated structure composed of parts (18, 19, 20, 21, 22, 23, 24, 25) that are coupled to the user body, like an exoskeleton integrated into a motor-driven continuous track for human locomotion controlled by the user by means of a central control unit (31) with a microprocessor and a gyroscope that help the user to keep his or her balance and direction, and to climb up and down stairs, and also comprises power actuators (27, 28, 29, 32) that cause the articulations of the exoskeleton (30) to move and hence the person's articulations to move, allowing the person to change between standing and sitting positions.

Description

EXOESQUELETOESTEIRA APROPRIADO COMO ÔRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA  EXOSKELETTERESTEE APPROPRIATE AS ANTHESIS FOR AID OF HUMAN LOCOMOTION
A presente invenção se refere a uma órtese composta de um exoesqueleto integrado a uma esteira para locomoção humana, principalmente destinada a pessoas com deficiência física motora. Neste documento está órtese se define como Exoesqueletoesteira. Her (2009) define órtese e exoesqueleto como um instrumento antropométrico mecânico que auxilia o movimento humano.  The present invention relates to an orthosis composed of an exoskeleton integrated with a treadmill for human mobility, mainly intended for people with physical disabilities. In this document this orthosis is defined as Exoskeleton. Her (2009) defines bracing and exoskeleton as a mechanical anthropometric instrument that aids human movement.
Este exoesqueleto é compreendido por uma vestimenta de suporte corporal articulada e estruturada com partes rígidas e flexíveis que se adaptam anatomicamente ao corpo do usuário. Esta estrutura de exoesqueleto é integrada a um sistema motorizado eletricamente com uma esteira de tração para a locomoção. Este aparelho é comandado pelo usuário por meio de um sistema de controle eletrônico com microprocessador. Possui integrado ao sistema eletrônico um giroscópio que auxilia na manutenção do equilíbrio do aparelho.  This exoskeleton is comprised of an articulated and structured body support garment with rigid and flexible parts that fit anatomically to the wearer's body. This exoskeleton structure is integrated into an electrically powered system with a traction belt for locomotion. This device is user controlled using an electronic microprocessor control system. It has integrated to the electronic system a gyroscope that helps in maintaining the balance of the apparatus.
Atualmente as pessoas com deficiência física motora ou com dificuldades de locomoção enfrentam grandes empecilhos para a locomoção e na acessibilidade de espaços urbanos e edificados. Neste sentido e no âmbito do estado da técnica, para o presente pedido de patente, citam-se os diversos modelos de cadeiras de rodas como um dos principais meios utilizados para facilitar a locomoção de pessoas com deficiência física.  Currently, people with physical disabilities or with mobility difficulties face major obstacles to the mobility and accessibility of urban and built spaces. In this regard and within the state of the art, for the present patent application, the various models of wheelchairs are cited as one of the main means used to facilitate the mobility of persons with disabilities.
A cadeira de roda é uma tecnologia basicamente composta de um acento estruturado na forma de cadeira composta de rodas, podendo ser composta com um sistema motorizado ou não. No estado da técnica, as principais diferenças estão no formato estrutural. A cadeira de rodas oferece uma sustentação para o usuário no formato de cadeira. O Exoesqueletoesteira, presente pedido de patente, se constitui de um exoesqueleto que dá suporte ao corpo como um segundo esqueleto que se articula com as articulações do corpo do usuário, permitindo a manutenção da postura em diferentes posições. The wheelchair is a technology basically composed of a structured accent in the form of a wheelchair and can be composed with a motorized system or not. In the prior art, the main differences are in the structural format. The wheelchair provides a support for the user in the shape of a chair. The Exoskeleton, this patent application, consists of an exoskeleton that supports the body as a second skeleton that articulates with the user's body joints, allowing the maintenance of posture in different positions.
A cadeira de roda integra a cadeira à rodas para a locomoção do usuário. O Exoesqueletoesteira integra um exoesqueleto a uma esteira de tração motorizada para a locomoção do usuário. O Exoesqueletoesteira possui uma estrutura antropomórfica, que se integra a estrutura do corpo do usuário enquanto a cadeira de roda fica limitada a uma estrutura de suporte com um acento para o usuário.  The wheelchair integrates the wheelchair for the user's mobility. The Exoskeleton integrates an exoskeleton with a motorized traction treadmill for the user's mobility. The Exoskeleton has a anthropomorphic structure that integrates with the body structure of the user while the wheelchair is limited to a support structure with an accent for the user.
Encontra-se também, no estado da técnica, órteses que auxilia a locomoção do usuário na marcha. Entre os exoesqueletos conhecidos estão o Parawalker, fabricado pela empresa Otto Bock e o Argo, fabricado pela RSL Stipeer. Estas órteses não são robóticas e diferentemente do Exoesqueletoesteira, estas necessitam de muletas ou andadores para o usuário. Estas órteses são limitadas a dar sustentação ao indivíduo, não geram ou amplificam a força motora no deslocamento.  It is also found, in the state of the art, orthoses that aid the user's walking in gait. Known exoskeletons include Parawalker, made by Otto Bock, and Argo, made by RSL Stipeer. These orthoses are not robotic and unlike the Exoskeleton, they require crutches or walkers for the user. These orthoses are limited to supporting the individual, do not generate or amplify the motor force in displacement.
Ainda no estado da técnica, existem as órteses robóticas que fornecem estrutura de sustentação e geram movimentos ou aumentam a capacidade do movimento automaticamente. As principais órteses robóticas existentes atualmente são: o eLegs da Berkeley Bionicso (USA), Dubbed Rex da Rex Bionics, o Walk Assist (fabricado pela Honda), o Robo Knee, o Hal, o ReWalk e o Blex. A principal diferença entre um exoesqueleto robótico e o Exoesqueletoesteira, do presente pedido de patente, é a característica de locomoção empregada. O exoesqueleto robótico possui oferece sustentação corporal e geram movimento articular no usuário para a locomoção por meio da marcha ou passada. Also in the prior art, there are robotic orthoses that provide support structure and generate movement or increase movement capacity automatically. Today's main robotic orthoses are: Berkeley Bionicso (USA) eLegs, Rex Bionics Dubbed Rex, Honda-made Walk Assist, Robo Knee, Hal, ReWalk and Blex. The main difference between a robotic exoskeleton and the Exoskeleton of the present patent application is the characteristic of locomotion employed. The robotic exoskeleton has body support and generates joint movement in the user for walking or walking.
Enquanto o Exoesqueletoesteira oferece sustentação corporal atua diretamente no deslocamento integral do indivíduo, sem a necessidade da marcha ou passada para a locomoção. While the Exoskeleton offers body support acts directly on the individual's full displacement, without the need for gait or stride for locomotion.
A prótese de exoesqueleto com esteira, do presente projeto, se apresenta como uma solução viável para atender muitas das dificuldades de locomoção de pessoas com deficiência física motora. Pode preencher uma lacuna entre a cadeira de rodas e o exoesqueleto robótico. The treadmill exoskeleton prosthesis of this project presents itself as a viable solution to meet many of the mobility difficulties of people with physical disabilities. It can bridge a gap between the wheelchair and the robotic exoskeleton.
O Exoesqueletoesteira é caracterizado por esteiras de tração por oferecerem algumas vantagens em comparação à tração sobre rodas. A esteira oferece grande aderência de tração em diferentes superfícies e possui maior área de distribuição de peso junto ao solo. The Exoskeleton is characterized by treadmills for offering some advantages compared to traction on wheels. The treadmill offers great traction grip on different surfaces and has a larger weight distribution area near the ground.
Mesmo alguns dos exoesqueletos mais modernos necessitam de muletas para compensar desequilíbrios na locomoção. O Exoesqueletoesteira dispensa o uso de muletas para compensar o equilíbrio. Todo o sistema se mantém autoequilibrado automaticamente com o controle da estabilidade efetuado por meio de sensores.  Even some of the most modern exoskeletons need crutches to compensate for imbalances in locomotion. The Exoskeletal Mat eliminates the use of crutches to compensate for balance. The entire system is automatically self-balancing with stability control via sensors.
A esteira desta órtese permite o deslocamento do usuário por terrenos planos, terrenos com pequenas irregularidades, pequenos obstáculos, subir e descer escadas presentes no meio urbano e edificado. O domínio de estabilidade ocorre com o monitoramento e controle do centro de gravidade da órtese e do usuário por meio de um sistema remoto composto de com um microprocessador, um inclinômetro ou giroscópio. Com os dados deste monitoramento o microprocessador ou o usuário controla os atuadores elétricos que mantém todo o sistema equilíbrio e estável. The treadmill of this orthosis allows the user to move over flat terrain, terrain with small irregularities, small obstacles, up and down stairs present in urban and built environment. The stability domain occurs by monitoring and controlling the orthosis and user center of gravity through a remote system composed of a microprocessor, an inclinometer or gyroscope. With the data of this monitoring the microprocessor or the user controls the electric actuators that keeps the whole system balanced and stable.
O exoesqueleto que compõe esta órtese possui uma estrutura morfológica adaptada à anatomia humana. Permite o usuário optar por uma posição sentada e em pé ou ainda optar por uma posição intermediária. Isto facilita as atividades de vida diária e a integração social do indivíduo.  The exoskeleton that makes up this orthosis has a morphological structure adapted to the human anatomy. Allows the user to opt for a sitting and standing position or for an intermediate position. This facilitates the activities of daily living and the social integration of the individual.
A descrição das figuras a seguir são apresentadas a título de exemplo e ilustração para possibilitar uma melhor compreensão do objeto do presente pedido de patente.  The description of the following figures are given by way of example and illustration to enable a better understanding of the object of the present patent application.
A figura 1 ilustra o Exoesqueletoesteira (1) com um usuário (2) estabilizado por cintos (3) na posição em pé.  Figure 1 illustrates the Exoskeleton (1) with a belt-stabilized user (2) (3) standing up.
A figura 2 mostra o chassi (4), eixos (5), rodas (6), correias de tração com o solo (7), peça de ancoragem do exoesqueleto (8) no chassi da esteira, peça de ancoragem do atuador de controle do equilíbrio (9) e parafuso de regulagem de tensão da correia de tração (10).  Figure 2 shows chassis (4), axles (5), wheels (6), ground drive belts (7), exoskeleton anchor part (8) on track frame, control actuator anchor part (9) and tensioning belt tension adjusting screw (10).
A figura 3 ilustra a disposição dos motores (11), polia do eixo do motor (12), polia de transmissão motor/roda (13), correias de transmissão do motor (14), peça de ancoragem do motor (15), roda de transmissão (16) e baterias (17).  Figure 3 illustrates the arrangement of motors (11), motor shaft pulley (12), motor / wheel drive pulley (13), motor drive belts (14), motor anchor part (15), wheel (16) and batteries (17).
A figura 4 mostra os componentes estruturais do exoesqueleto: peça de articulação do calcanhar (18), peça da perna (19), peça articulação inferior joelho (20), peça articulação superior joelho (21), peça suporte assento (22), assento (23), peça coluna (24), encosto coluna (25). Também mostra as peças de carenagem do Exoesqueletoesteira (26). A figura 5 ilustra os atuadores de equilíbrio (27), os atuadores de articulação de posição do joelho (28), atuador de articulação do tronco (29), as articulações do exoesqueleto (30) e a central de controle (31 ). Figure 4 shows the structural components of the exoskeleton: heel joint part (18), leg part (19), lower knee joint part (20), upper knee joint part (21), seat support part (22), seat (23), column piece (24), column backrest (25). It also shows the Exoesqueletoesteira's fairing parts (26). Figure 5 illustrates balance actuators (27), knee position articulation actuators (28), trunk articulation actuator (29), exoskeleton joints (30), and control center (31).
A figura 6 ilustra o Exoesqueletoesteira com esteiras de duas rodas cada uma e articulação com caixa redutora de torque (32) e travessa entre chassi única.  Figure 6 illustrates the Exoskeleton track with two-wheel tracks each and articulation with torque reduction box (32) and cross-frame cross member.
Com referência as figuras apresentadas, o Exoesqueletoesteira (1), objeto do presente pedido de patente é constituído por um exoesqueleto articulado com uma esteira que promove a locomoção do usuário.  With reference to the presented figures, the Exoskeleton (1), object of the present patent application is constituted by an exoskeleton articulated with a treadmill that promotes the locomotion of the user.
Este exoesqueleto possui uma estrutura modular articulada e é composto de peças (18, 19, 20, 21, 22, 23, 24, 25) que se acoplam ao corpo do usuário. O exoesqueleto ser articula entre a posição sentada e em pé. Estas variações de posições são promovidas por atuadores (27, 28, 29) elétricos ou hidráulicos que geram movimentos nas articulações do exoesqueleto (30) e consequentemente nas articulações do indivíduo.  This exoskeleton has a modular articulated structure and is composed of pieces (18, 19, 20, 21, 22, 23, 24, 25) that attach to the user's body. The exoskeleton being articulates between the sitting and standing position. These position variations are promoted by electric or hydraulic actuators (27, 28, 29) that generate movements in the exoskeleton joints (30) and consequently in the individual's joints.
Uma das articulações do exoesqueleto (30) está posicionada junto à articulação do tornozelo. Atuadores (27) fixados (9) junto ao chassi fazem o movimento de flexão e extensão desta articulação permitindo a inclinação do corpo do usuário para frente ou para trás.  One of the exoskeleton joints (30) is positioned close to the ankle joint. Actuators (27) attached (9) close to the chassis flex and extend the articulation allowing the user body to tilt forward or backward.
Outra articulação do exoesqueleto (30) se integra as articulações do joelho. Para esta articulação, atuadores (28) promovem a flexão e extensão da articulação do joelho. Isto permite o posicionamento do indivíduo entre a posição sentada/agachada e em pé.  Another exoskeleton joint (30) integrates the knee joints. For this joint, actuators (28) promote knee flexion and extension. This allows the individual to be positioned between sitting / crouching and standing position.
Uma terceira articulação do exoesqueleto (30) é posicionada no plano transverso, alinhada com as articulações coxa femoral. Por meio de um atuador (29), esta articulação permite a flexão e extensão do quadril, possibilitando juntamente com as outras articulações (30), as posições sentada e em pé. Nos membros inferiores as articulações do Exoesqueletoesteira que se articulam com dos tornozelos e dos joelhos do usuário podem estar posicionadas na posição posterior ou na posição lateral interna dos membros inferiores. A third exoskeleton joint (30) is positioned in the transverse plane, aligned with the femoral thigh joints. By means of an actuator (29), this joint allows the flexion and extension of the hip, enabling together with the other joints (30), the sitting and standing positions. In the lower limbs, the Exoskeletal Joints joints that articulate with the user's ankles and knees may be positioned posteriorly or in the internal lateral position of the lower limbs.
Este exoesqueleto articulado é ancorado (8) a uma esteira motorizada que promove o deslocamento do usuário. Esta esteira se constitui como um veículo de locomoção, com dois motores (11) alimentados por baterias (17) fixados por uma peça de ancoragem do motor (15) junto ao chassi (4). A locomoção do Exoesqueletoesteira ocorre por meio de uma transmissão de força para um sistema de eixos, rodas e correias (5, 6, 7, 12, 13, 14, 16,) de tração junto ao solo. A esteira do exoesqueleto forma a base de todo o sistema e permite a tração para a locomoção em diferentes terrenos. É projetada para subir e descer escadas.  This articulated exoskeleton is anchored (8) to a motorized treadmill that promotes the user's dislocation. This track is a locomotive vehicle with two battery-powered engines (11) (17) secured by a motor anchor (15) near the chassis (4). Locomotion of the Exoskeletal Belt occurs by means of a power transmission to a system of axles, wheels and belts (5, 6, 7, 12, 13, 14, 16) along the ground. The exoskeleton belt forms the basis of the entire system and allows traction for locomotion on different terrains. It is designed to go up and down stairs.
Esta esteira é constituída de rodas (6, 16) envolvidas por uma correia (7), com regulagem de tensão (10), que faz a tração com o solo. Possui dois motores (1 ), um para cada conjunto de rodas e correias de tração.  This treadmill consists of wheels (6, 16) surrounded by a tensioning belt (7), which makes traction with the ground. It has two engines (1), one for each set of wheels and drive belts.
O Exoesqueletoesteira possui central de controle (31) do sistema. Nesta central encontra-se uma placa de processamento de dados, placa drive, placa de alimentação, software, giroscópio, microcontrolador, giroscópio e componentes eletrônicos. Com um joystick conectado a esta central o usuário pode controlar a partida, o freio, a força e velocidade de tração, a direção e o equilíbrio do Exoesqueletoesteira.  The Exoskeleton has a control center (31) of the system. In this center is a data processing board, drive board, power board, software, gyroscope, microcontroller, gyroscope and electronic components. With a joystick connected to this center the user can control the starting, brake, traction force and speed, steering and balance of the Exoskeleton.

Claims

REIVINDICAÇÕES
1. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", caracterizado pelo referido Exoesqueletoesteira ser compreendido por uma órtese composta de um exoesqueleto integrado a uma esteira para locomoção de pessoas, podendo ser utilizado por pessoas com deficiência física motora, sendo o exoesqueleto uma vestimenta de suporte corporal, com atuadores de força (27, 28 e 29), articulado anatomicamente com o corpo do usuário e integrado sobre um sistema de chassi (4), correias (7 e 14) e rodas (6 e 16), motorizado, que constitui uma esteira de tração para a locomoção, sendo o dito Exoesqueletoesteira também controlado eletronicamente por uma central de controle (31) com microprocessador, giroscópio e/ou mini joystick para as funções de partida, freio, variar entre as posições sentada e em pé, direção e equilíbrio, subir e descer escadas.  1. "EXOSKLETETETETETETETETETEE" Suitable for use as an orthosis for the aid of human locomotion ", characterized in that said exoskeleton is comprised of an orthosis composed of a treadmill for locomotion of people, and can be used by people with physical disabilities, being the exoskeleton a body support garment with force actuators (27, 28 and 29), anatomically articulated with the user's body and integrated on a chassis system (4), belts (7 and 14) and wheels (6 and 16), motorized treadmill, which is a traction treadmill for locomotion, said Exoskeleton also being electronically controlled by a control center (31) with microprocessor, gyroscope and / or mini joystick for the starting, braking functions, varying between sitting and sitting positions. standing, direction and balance, up and down stairs.
2. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir um sistema de exoesqueleto articulado a uma esteira de tração para a locomoção de pessoas com ou sem deficiência física.  2. "EXOSKELET MESH APPROPRIATE AS AN ORTHESIS FOR HUMAN LOCOMOTION AID" according to claim 1, characterized in that the Exoskeleton conveyor has a traction exoskeleton system for locomotion of persons with or without physical disabilities.
3. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir um sistema de controle de equilíbrio com giroscópios que permite a manutenção da estabilidade automaticamente por meio de atuadores de força. 3. "EXOSKELET MATRIX APPROPRIATE AS AN ORTHESIS FOR HUMAN LOCOMOTION AID" according to claim 1, characterized in that the Exoskeleton Belt has a balance control system with gyros that allows the stability to be maintained automatically by force actuators.
4. "EXOESQUELETOESTEIRA APROPRIADO COMO ORTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir um sistema de atuadores de força linear ou caixa de redução com engrenagens ou caixa de torque (32) para articular o Exoesqueleto esteira nas articulações do tornozelo, joelhos e quadril e manutenção da estabilidade ou equilíbrio. 4. "EXOSKELET MATRIX APPROPRIATE FOR HUMAN LOCOMIZATION AID" according to claim 1, characterized in that the Exoskeleton conveyor has a linear force actuator system or gear reduction box or torque box (32) to articulate Exoskeleton treadmill in ankle, knee and hip joints and maintenance of stability or balance.
5. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir um sistema de tração para a locomoção com rodas ou com esteiras (7 e 14).  5. "EXOSKELET MATRIX APPROPRIATE AS AN ORTHESIS FOR HUMAN LOCOMOTION AID" according to claim 1, characterized in that the Exoskeleton conveyor has a traction system for wheeled or crawler locomotion (7 and 14).
6. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir as articulações mecânicas dos tornozelos, dos joelhos e do quadril posicionadas na posição posterior ou na posição lateral interna ou externa dos membros inferiores.  6. "EXOSKELET MATRIX APPROPRIATE AS AN ORTHESIS FOR HUMAN LOCOMOTION AID" according to claim 1, characterized in that the Exoskeletal Brace has the mechanical joints of the ankles, knees and hips positioned posteriorly or in the internal or external lateral position. of the lower limbs.
7. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir um sistema de sustentação do usuário por meio de um banco anatómico e/ou cintas de amarras nos membros inferiores, quadril e tronco.  7. "EXOSKELET MATRIX APPROPRIATE AS AN ORTHESIS FOR HUMAN LOCOMOTION AID" according to claim 1, characterized in that the Exoskeleton conveyor has a user support system by means of an anatomical seat and / or lower limb straps; hip and torso.
8. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir um sistema de banco com mini motores de vibração controlados por microprocessador para o relaxamento muscular e a estimulação sanguínea nos membros inferiores e quadril. 8. "EXOSKELET MATRIX APPROPRIATE AS AN ORTHESIS FOR HUMAN LOCOMOTION AID" according to claim 1, characterized in that the Exoskeleton conveyor has a seat system with microprocessor-controlled mini vibration motors for muscle relaxation and blood stimulation in the lower limbs and hip.
9. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir um sistema de controle, com microprocessador e giroscópio para funções de acionamento e deslocamento do aparelho para frente, para trás, giro, para a esquerda, para a direita, frenagem, estabilidade e equilíbrio, variar entre as posições sentada e em pé, com o giroscópio acoplado no corpo do usuário permitindo o controle de funções do Exoesqueletoesteira com gestos corporais conforme a manipulação da rotação ou giro do giroscópio, podendo o usuário controlar este giro e direcionamento com a rotação da cabeça, mãos, tronco ou outras partes do corpo.  9. "EXOSKELET MATRIX APPROPRIATE FOR HUMAN LOCOMOUS AID" according to claim 1, characterized in that the Exoskeleton conveyor has a control system with microprocessor and gyroscope for operating and moving the device forward, backward and backward. , turning, left, right, braking, stability and balance, varying between sitting and standing positions, with the gyroscope attached to the user's body allowing control of the Exoskeleton functions with body gestures as manipulation of rotation or gyroscope rotation, the user can control this gyro and direction with the rotation of the head, hands, trunk or other body parts.
10. "EXOESQUELETOESTEIRA APROPRIADO COMO ÓRTESE PARA O AUXÍLIO DA LOCOMOÇÃO HUMANA", de acordo com a reivindicação 1 , caracterizado pelo fato do Exoesqueletoesteira possuir um sistema mecânico de sustentação com esteiras de quatro rodas (Fig.1) ou mais (Fig.6), reforços estruturais tubulares, chatos, oblongos, quadrado, triangular ou misto, articulados com atuadores lineares (27,28,29), motores, e/ou caixa redutora de torque (32).  10. "EXOSKELET MATRIX APPROPRIATE AS AN ORTHESIS FOR HUMAN LOCOMOTION AID" according to claim 1, characterized in that the Exoskeleton conveyor has a mechanical four-wheel belt support system (Fig.1) or more (Fig.1). , tubular, flat, oblong, square, triangular or mixed structural reinforcements, articulated with linear actuators (27,28,29), motors, and / or torque reducer (32).
PCT/BR2014/000152 2013-05-09 2014-05-09 Continuous exoskeleton track suitable as an orthesis assisting human locomotion WO2014179855A2 (en)

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