WO2017078576A1 - Pair of crutches allowing user control of an exoskeleton - Google Patents

Abstract

The invention relates to medical technology, and more particularly to elements of walking assistance devices, namely intelligent crutches for movement in predetermined modes. The present pair of crutches comprises supporting bodies which have adjustable longitudinal dimensions and are provided with supporting handles, the first crutch comprising a microcontroller and a first rechargeable battery, connected to each other, and a transceiver and "On/Off", "Start/Stop" and "Movement Mode" buttons, which are connected to a first, a second, a third and a fourth port of the microcontroller. The "On/Off", "Start/Stop" and "Movement Mode" buttons are mounted in the supporting handle of the first crutch. An exoskeleton is attached to the user and comprises a trunk and leg supports, a second rechargeable battery in the trunk or in the leg supports, and a first part of a distributed computer network, which comprises a master controller in the trunk or in the leg supports of the exoskeleton. A second part of the distributed computer network comprises a microcontroller, and the two parts of the onboard computer system are connected by a wireless communication channel; meanwhile, the exoskeleton itself is designed to be capable of moving in a sagittal plane in predetermined movement modes. The first crutch in the pair includes a support reaction force sensor, a triaxial accelerometer and a display, which are connected to a fifth, sixth and seventh port of the microcontroller. The invention provides greater functionalities for controlling an exoskeleton.

Description

 USER CROSS SET FOR EXOSCELETON CONTROL

The invention relates to medical equipment, in particular, to elements of walking assistance devices in predetermined modes of movement of users with impaired musculoskeletal system functions, with limited mobility or complete immobility of the lower extremities during normal functioning of the upper limbs and upper body. The invention provides the ability to walk the user with a violation of the functions of the musculoskeletal system on a horizontal and inclined supporting surface, as well as on flights of stairs and crossing over obstacles, and can also be used during rehabilitation and recovery procedures.

 A known apparatus for moving a person with a violation of musculoskeletal functions, containing the left and right hand supports in the form of crutches and an active exoskeleton of the lower extremities, made with the possibility of attaching it to the legs and body of the human body. Manual supports are equipped with controls that provide control of exoskeleton link drives and knee brakes [US 7998096 B1, publ. 08/16/2011].

 In this device, hand supports - crutches are connected to the exoskeleton by wired data exchange channels. It is impossible to ensure the coordinated movement of all drives in it, and it alone can provide the user with movement only in a step-by-step mode and cannot ensure the user's walking close to natural. These factors negatively affect the ergonomic characteristics of the device as a whole.

Closest to the proposed invention is a set of crutches of a user of a motorized exoskeleton, containing supporting bodies made with the possibility of adjusting their longitudinal dimensions and equipped with supporting handles, while the first crutch contains a microcontroller and a first battery connected to each other, as well as a transceiver and buttons “On / Off ”,“ Start / Stop ”and“ Motion mode ”connected to the first, second, third and, respectively, fourth ports of the microcontroller, and the“ On / Off ”buttons, “Start / Stop” and “Movement mode” are mounted in the support handle of the first crutch, the exoskeleton is made to attach to the user and includes a body and foot supports, contains a second battery mounted in the body or foot supports of the exoskeleton, the first part of a distributed computing network, including, including, the head controller mounted in the body or in the foot supports of the exoskeleton, while the second part of the distributed computer network includes a microcontroller, while both parts of the on-board computer Networks connected between a wireless communication channel, and the exoskeleton is made with the possibility of movement in the sagittal plane in predefined motion modes, [patent application N ° US2013 / 0158445 A1, publ. 06/20/2013].

 The present invention has the following disadvantages:

 - there is no possibility of monitoring the charge of the batteries and the possibility of instrumental confirmation of a given mode of movement, which negatively affects the safety of the user's movement;

 - there is no verification of the initial position of the user at the moment the start of movement, which can lead to loss of balance and the fall of the user

- there is no possibility of emergency shutdown of the exoskeleton when the crutch or user falls;

 - there is no possibility of locking the crutch buttons in a horizontal position, which eliminates false triggering, for example, when the crutch falls.

 These shortcomings adversely affect the safety of the user, the functionality and ergonomic characteristics of the device to facilitate walking in general.

 The technical result to which the invention is directed is to improve ergonomic characteristics and expand the functionality of the device and increase user safety.

In order to achieve the indicated technical results, a well-known invention comprising a set of crutches of a user of a motorized exoskeleton containing supporting bodies made with the possibility of adjusting their longitudinal dimensions and equipped with supporting handles, the first crutch comprising a microcontroller and a first battery connected to each other, as well as a transceiver and “On / Off”, “Start / Stop” and “Motion Mode” buttons connected to the first, second, third and, respectively, fourth microcontrol ports lera, the “On / Off”, “Start / Stop” and “Movement mode” buttons are mounted in the support handle of the first crutch, the exoskeleton is made to attach to the user and includes the body and foot supports, contains a second battery mounted in the body or in the foot supports of the exoskeleton, the first part of the distributed computing network, including, but not limited to, the head controller mounted in the body or foot supports of the exoskeleton, while the second part of the distributed computing network includes a microcontroller, m both parts of the on-board computer network are interconnected by a wireless communication channel, and the exoskeleton is made with the ability to move in the sagittal plane in predetermined modes of movement, while the support reaction force sensor, a three-axis accelerometer and display connected to the fifth, sixth and, accordingly, the seventh ports of the microcontroller.

 In addition, the following modes were used as predefined exoskeleton movement modes: “Walk on a horizontal surface”, “Walk on a ladder up”, “Walk on a ladder down”, “Walk on a slope up”, “Walk on a slope down”, “ Step over the obstacle ”,“ Sit on a support ”,“ Stand upright with legs straightened ”,“ Stand upright with straightened legs from the position “Sit on a support”, “Sit on a support from the position“ Stand upright with straightened legs ”.

 Figure 1 shows a General view of the user with an exoskeleton on it. Figure 2 schematically shows the elements of the exoskeleton and "smart" crutch connected by a wireless communication channel. In FIG. Figure 3 shows the structural diagram of the second part of the distributed on-board computer network, spaced on an "intellectual" crutch. In FIG. 4 shows a general view of the crutch handle, with the control buttons and display placed on it.

 In figures 1, 2, 3 and 4 are indicated:

 1, 2 - the first and, accordingly, the second crutches;

 3 - user;

 4 - motorized exoskeleton;

 5 - exoskeleton body;

 6, 7 - left and, accordingly, right foot supports of the exoskeleton;

 8-second battery;

 9 - the first battery;

 10 - distributed on-board computer network;

 1 1 - the first part of the distributed on-board computer network;

 12 - head controller of the exoskeleton;

 13 - the second part of the distributed on-board computer network;

 14 - microcontroller;

 15 - wireless communication channel;

 16, 17 - supporting handles of the left and, accordingly, the right crutch;

 18, 19, 20 and 21, - the first, second, third and, respectively, fourth ports of the microcontroller;

 22, 23 and 24 - the fifth, sixth and, accordingly, the seventh ports of the microcontroller;

25 - “On / Off” button;

 26 - “Start / Stop” button (control button);

 27 - button "Motion mode" (control button);

 28 - transceiver;

29 - support reaction force sensor; 30 - three-axis accelerometer;

 31 - display;

 32 and 33 are the supporting bodies of the first and, accordingly, the second crutches.

 A set of crutches 1 and 2 of user 3 of a motorized exoskeleton 4, contains support bodies 32 and 33, made with the possibility of regulating their longitudinal dimensions and equipped with support arms 16 and 17, while the first crutch 1 contains a microcontroller 14 and a first battery 9 connected to each other, as well as the transceiver 28 and the “On / Off” buttons 25, “Start / Stop” 26 and “Motion mode” 27 connected to the first 18, second 19, third 20 and, respectively, fourth 21 ports of the microcontroller 14, and the “On” buttons On / Off ”25,“ Start / Stop ”26 and“ Cut movements 27 are mounted in the supporting handle 16 of the first crutch 1, while the exoskeleton 4 is adapted to be attached to the user 3 and includes a housing 5 and foot supports 6 and 7, a second battery 8 mounted in the housing 5 or in the foot supports 6 or 7 of the exoskeleton 4, the first part 1 1 of the distributed computing network 10, including, but not limited to, the head controller 12 mounted in the housing 5 or in the foot supports 6 or 7 of the exoskeleton, while the second part 13 of the distributed computing network 10 includes a microcontroller 14, both of which parts 1 1 13 onboard computer network 10 are connected by a wireless communication channel 15, and the exoskeleton 4 is capable of movement in the sagittal plane in the predefined modes dvizheniyaL

 In addition, the first crutch 1 of the kit contains a support reaction force sensor 29, a three-axis accelerometer 30 and a display 31 connected to the fifth 22, sixth 23 and, accordingly, the seventh 24 ports of the microcontroller 14.

 At the same time, the following modes were used as predefined exoskeleton motion modes: “Walk on a horizontal surface”, “Walk on a staircase up”, “Walk on a staircase down”, “Walk on a slope up”, “Walk on a slope down”, “Step over through an obstacle ”,“ Sit on a support ”,“ Stand upright with legs straightened ”,“ Stand upright with straightened legs from the position “Sit on a support”, “Sit on a support from the position“ Stand upright with straightened legs ”.

 To control the exoskeleton using an “intellectual” crutch, you must perform the following steps.

 1. Connect the exoskeleton 4 power supply circuit to the terminals of the second battery 8.

 2. Turn on the power of the first crutch 1 using the On / Off button 25.

3. Wait until the display appears on the display 31, which indicates the establishment of communication between the first crutch 1 and the exoskeleton 4. 4. Use the “Movement mode” button 27 on the first crutch 1 to select the desired movement mode; however, information about the selected driving mode will be displayed on the display 31 in the form of a corresponding icon.

 5. After selecting the desired driving mode, press the "Start / Stop" button 20.

 As a result, the position of the first crutch is checked 1

(vertical or horizontal), checking the position of the user 3 using the sensor 29 reaction force support; if the position of the first crutch 1 and user 3 is correct, the countdown (4 seconds) starts on the display 31 and the selected driving mode starts.

 In case of an erroneous start of the mode, the user has the opportunity to press the “Start / Stop” button again to cancel the selected mode.

 Confirmation of the claimed technical result is to provide the user with the following additional features that give the crutch "intellectual" functions.

 1. Turning on / off the power of the crutch is carried out using the “On / Off” button 25, which is mounted under the support handle 16 to protect against accidental pressing, which positively affects the safety of the user.

 2. The movement mode is changed either by pressing the “Motion mode” button 27, or by rotating the first crutch 1 by 15-20 degrees around the vertical axis (a three-axis accelerometer 27 is activated);

 3. Start / stop of the exoskeleton by pressing the "Start / Stop" button

26;

 4. Protection against accidental operation (for example, when the first crutch 1 falls on the floor) is carried out using a three-axis accelerometer 27; crutch 1 responds to pressing the control buttons when it deviates from the vertical axis by no more than 45 °, and in a horizontal position, i.e. when the crutch deviates from the vertical axis by more than 45 °, all previously included modes are automatically turned off and the control buttons are blocked.

 5. Information on the presence / absence of the connection of the first crutch 1 with the exoskeleton

4, is done by displaying the mode icon when connected on the display 31;

 6. Information about the selected driving mode is displayed on display 31;

 7. Information about the charge of the first and second batteries 9 and 8 is displayed on the display 31;

 8. In the event that user 3 at the moment of the start of movement according to the mode

“Walking on a horizontal surface” from a “standing” position will not rest on a crutch, which will be identified by a support reaction force sensor 29, the selected mode will not be activated and exoskeleton 4 will not start moving; 9. In the event of the fall of the first crutch 1, this is determined by the three-axis accelerometer 30 and all running modes are automatically turned off and the control buttons are blocked.

 Thus, this invention has a number of “intelligent” properties that positively affect user safety, ergonomic characteristics, and functionality of walking assistance devices.

Claims

CLAIM one . A set of crutches of a user of a motorized exoskeleton containing supporting bodies made with the possibility of adjusting their longitudinal dimensions and equipped with supporting handles, while the first crutch contains a microcontroller and a first battery connected to each other, as well as a transceiver and buttons “On / Off”, “Start / Stop ”and“ Motion mode ”connected to the first, second, third and, respectively, fourth ports of the microcontroller, and the“ On / Off ”,“ Start / Stop ”and“ Motion mode ”buttons are mounted in the reference the handle of the first crutch, the exoskeleton is adapted to be attached to the user and includes a body and foot supports, contains a second battery mounted in the body or in the foot supports of the exoskeleton, the first part of a distributed computer network, including, but not limited to, a head controller mounted in the body or in the foot supports of the exoskeleton, while the second part of the distributed computer network includes a microcontroller, while both parts of the on-board computer network are interconnected by a wireless channel with ide, and the exoskeleton is made with the ability to move in the sagittal plane in predetermined modes of movement, except that the support reaction force sensor, a three-axis accelerometer and a display are connected to the first crutch of the kit to the fifth, sixth and, accordingly, the seventh ports of the microcontroller.  2. A set of crutches of a user of a motorized exoskeleton according to claim 1, with the exception that the modes “Walk on a horizontal surface”, “Walk on a ladder upwards” are used as predefined modes of movement of an exoskeleton “Walk down the stairs,” “Walk down the incline,” “Walk down the incline,” “Cross an obstacle,” “Sit on a support,” “Stand upright with legs straight,” “Stand upright with legs straight out Sit on a Support, Sit on a Support from Assumption "Stand upright with legs straight."