Hip and knee actuation systems for lower limb orthotic devices

Details Hip and knee actuation systems for lower limb orthotic devices Hip and knee actuation systems for lower limb orthotic devices

A - Human Necessities

61

F

A61F 2/68 (2006.01) A61F 2/70 (2006.01)

Patent

CA 2734469

A lower limb orthotic device (100) includes a thigh link (101) connected to a hip link (102) through a hip joint (103) a hip torque generator (106) including a hip actuator (110) and a first mechanical transmission mechanism (111) interposed between the thigh link ( 101) and the hip link (102), a shank link (104) connected to the thigh link (101) through a knee joint ( 105), a knee torque generator ( 107) including a knee actuator (112) and a second mechanical transmission mechanism (113) interposed between the thigh link (101) and the shank link (104), and a controller (108), such as for a common motor (154) and pump (156) connected to the hip and knee torque generators (106, 107), for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms (111, 113) aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators (106, 107) can produce a non-zero torque.

L'invention concerne un dispositif orthétique (100) pour membre inférieur comprenant un maillon (101) de cuisse relié à un maillon (102) de hanche par lintermédiaire dune articulation (103) de hanche, un générateur (106) de couple de hanche comprenant un actionneur (110) de hanche et un premier mécanisme (111) de transmission mécanique interposé entre le maillon (101) de cuisse et le maillon (102) de hanche, un maillon (104) de tibia relié au maillon (101) de cuisse par lintermédiaire dune articulation (105) de genou, un générateur (107) de couple de genou comprenant un actionneur (112) de genou et un deuxième mécanisme (113) de transmission mécanique interposé entre le maillon (101) de cuisse et le maillon (104) de tibia, et une unité (108) de commande appropriée pour un moteur (154) et une pompe (156) communs reliés aux générateurs (106, 107) de couple de hanche et de genou, servant à réguler des positions relatives des divers composants afin dassister un utilisateur pour effectuer un mouvement naturel de marche, le premier et le deuxième mécanisme (111, 113) de transmission mécanique contribuant à uniformiser le couple sur létendue des débattements, tout en augmentant également le débattement, les générateurs (106, 107) de couple étant capables de produire un couple non nul.

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