# US 11,432,987 B2 · Ambulation assistance wearable device and corresponding method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,987 B2 - Document ID: US11432987B2 - Status: Granted - Kind: B2 - Application number: 16/753,770 - Filed: 2018-10-02 - Published: 2020-09-03 - Granted: 2022-09-06 - Earliest claimed: 2017-10-05 - Applicants: Nicoló Sala; Francesco Rusnati; Manuel Rocco - Inventors: Nicoló Sala; Francesco Rusnati; Manuel Rocco; Davide Russo; Christian Spreafico; Antonio Caputi; Paolo Carrara - Web page: https://patentgrep.com/patent/US11432987B2 ## CPC - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61B 5/112: {Gait analysis} - A61B 5/6823: {Trunk, e.g., chest, back, abdomen, hip} - A61B 5/6828: {Leg} - A61B 5/742: {using visual displays (displays for heart-related electrical signals, e.g. ECG, A61B5/339)} - A61H 2201/0188: Illumination related features - A61H 2201/5023: Interfaces to the user - A61H 2201/5069: Angle sensors - A61H 2201/5084: Acceleration sensors - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract An ambulation assistance wearable device, and related method, includes a support to be removably attached to the body of a person; a power supply anchored to the support; a light source mounted on the support and electrically connected to the power supply, which is configured to emit a beam of visible light toward the ground; a front stepping point where the person moves the foot to generate a bright spot in that point and move forward along an ambulation direction; a sensor that detects at least one control parameter identifying the ambulation condition; and a processing unit connected to the power supply, the light source and the sensor, which controls the activation-deactivation of the light source as a function of the at least one control parameter. The control parameter corresponds to an angle or a displacement measurement related to the instant position of a part of the body during ambulation. ## Claims ### Claim 1 An ambulation assistance wearable device, comprising: a support (2), configured to be removably attached to a body of a person in an attachment position; a power supply (3), anchored to said support (2); a light source (4, 41, 42), mounted on said support (2) and electrically connected to said power supply (3), said light source (4, 41, 42) being configured to emit a beam of visible light (5, 51, 52) towards the ground, at least at one front stepping point (6, 61, 62) to which the person has to move a foot to move forward along an ambulation direction (x-x); a sensor (8) configured to detect at least one control parameter (pc) identifying an ambulation condition; and a processing unit (9), configured to control activation-deactivation of said light source (4, 41, 42) as a function of said at least one control parameter (pc), said processing unit (9) being operatively connected to said power supply (3), said light source (4, 41, 42), and said sensor (8); wherein: said at least one control parameter (pc) corresponds to an angle or to a displacement measurement related to an instant position of at least one part of the body of said person, during ambulation; said light source is mounted on a second, movable support to change an orientation of a propagation axis of the beam of visible light and/or a position of said light source; said movable support is dynamically connected to a shaft of a motor said motor is operated by a control unit; said control unit is designed to receive measurement signals of the position in space of said light source or a change of said position, said control unit being further designed to generate a control signal for operating said motor as a function of said measurement signals of the position of said light source, said control signal being adapted to compensate for a change of the position of said light source. ### Claim 2 (depends on 1) The ambulation assistance wearable device according to claim 1, wherein said sensor comprises a combination of accelerometer and gyroscope. ### Claim 3 (depends on 1) The ambulation assistance wearable device according to claim 1, wherein the sensor further measures the position of the light source and/or the change of the position over time. ### Claim 4 (depends on 3) The ambulation assistance wearable device according claim 3, further comprising a deflector (11) for said beam of visible light (5), at a plane crossing a knee joint and parallel to said forward direction (x-x). ### Claim 5 (depends on 4) The ambulation assistance wearable device according to claim 4, wherein said deflector (11) comprises a system of lenses and/or mirrors, which is configured to receive said beam of visible light (5) emitted by said light source (4) and to transmit said beam towards a ground, said deflector (11) being operatively connected to said processing unit (9) and orientable as a function of the control parameter (pc) transmitted by said processing unit (9). ### Claim 6 (depends on 5) The ambulation assistance wearable device according to claim 5, wherein said at least one control parameter (pc) is a parameter indicating a rotation of a femur with respect to an axis perpendicular to the ground. ### Claim 7 (depends on 5) The ambulation assistance wearable device according to claim 5, wherein said deflector (11) is orientable such that said beam of visible light (5) is splittable in a first beam (51) projectable to the ground in a first front stepping point (61), corresponding to a point to which said person has to move a foot opposite to a point of a lower limb supporting said ambulation assistance wearable device, and a second beam (52) projectable to the ground in a second front stepping point (62), corresponding to the point to which said person has to move the foot of the lower limb supporting said device. ### Claim 8 (depends on 7) The ambulation assistance wearable device according to claim 7, wherein said first beam (51) and said second beam (52) are projectable alternatively, as a function of said at least one control parameter (pc), said at least one control parameter indicating a flexion of the knee joint of a limb supporting said ambulation assistance wearable device. ### Claim 9 (depends on 1) The ambulation assistance wearable device according to claim 1, wherein said attachment position is at a lower limb and wherein said angle is an angle related to a mutual position between femur and tibia of said lower limb. ### Claim 10 (depends on 1) The ambulation assistance wearable device according to claim 1, wherein said attachment position corresponds to a knee joint of a lower limb supporting said ambulation assistance wearable device. ### Claim 11 (depends on 5) The ambulation assistance wearable device according to claim 5, wherein said light source (4, 41, 42) is attached to said support (2) in an external lateral position or an internal lateral position, with respect to a sagittal plane of symmetry of said knee joint or at said sagittal plane of symmetry. ### Claim 12 (depends on 10) The ambulation assistance wearable device according to claim 10, wherein said light source (4, 41, 42) is mounted as movable with respect to said support (2), and wherein said front stepping point (6, 62) corresponds to a point to which the person has to move the foot of the lower limb supporting said ambulation assistance wearable device. ### Claim 13 (depends on 12) The ambulation assistance wearable device according to claim 12, further comprising an actuator (10) that displaces said light source (4, 41, 42) along a plane crossing the joint of knee joint and parallel to said ambulation direction (x-x). ### Claim 14 (depends on 13) The ambulation assistance wearable device according to claim 13, wherein said light source (4) is mounted on said support (2), rotatable about an axis parallel to a transverse axis of said knee joint, and wherein said actuator (10) comprises a rope constrained, on one side, to said light source (4), and on another side, to a waist or thigh of said person, such that said light source (4, 41, 42) is movable as a function of a position of a femur with respect to an axis perpendicular to a ground, during the ambulation along the plane crossing the knee joint and parallel to said forward direction (x-x). ### Claim 15 (depends on 13) The ambulation assistance wearable device according to claim 13, wherein said light source (4, 41, 42) is mounted on said support (2), rotatable about an axis parallel to a transverse axis of said knee joint, and wherein said actuator (10) comprises a mass, supported underneath by said light source (4), such that said light source (4) is movable, due to gravitational force, during the ambulation along the plane crossing the knee joint and parallel to said forward direction (x-x). ### Claim 16 (depends on 13) The ambulation assistance wearable device according to claim 13, wherein said actuator comprises a servo-assisted assembly (8c) between said support (2) and said light source (4), arranged for displacing said light source (4) along the plane crossing the knee joint and parallel to said forward direction (x-x), as a function of the at least one control parameter (pc), sent by said processing unit (9). ### Claim 17 (depends on 16) The ambulation assistance wearable device according to claim 16, wherein said at least one control parameter (pc) is a parameter indicating a rotation of a femur with respect to an axis perpendicular to a ground. ### Claim 18 (depends on 16) The ambulation assistance wearable device according to claim 16, wherein said servo-assisted assembly (8c) between said support (2) and said light source (4), is arranged for displacing said light source along a transverse plane, as a function of said at least one control parameter (pc) sent by said processing unit (9). ### Claim 19 (depends on 18) The ambulation assistance wearable device according to claim 18, wherein said at least one control parameter (pc) is a parameter indicating an instant torsion between femur and tibia and/or an instant lateral yielding of the knee joint. ### Claim 20 (depends on 1) The ambulation assistance wearable device according to claim 1, wherein said light source comprises at least: a first light source (41), and a second light source (42). ### Claim 21 (depends on 20) The ambulation assistance wearable device according to claim 20, wherein said first light source (51) and said second light source (52) are comprised of, or comprise, a led strip. ### Claim 22 (depends on 1) The ambulation assistance wearable device according to claim 1, wherein said at least one front stepping point (6, 61, 62) has a circular or elliptical plane shape, or a shape of a foot sole. ### Claim 23 (depends on 1) The ambulation assistance wearable device according to claim 1, wherein said light source (4, 41, 42) is a monochromatic or polychromatic, visible laser light source. ### Claim 24 (depends on 1) The ambulation assistance wearable device according to claim 1, further comprising a transceiver unit (12) operatively connected to said processing unit (9), arranged for receiving and transmitting control signals (sc′″) to/from a remote control unit. ### Claim 25 (depends on 1) The ambulation assistance wearable device according to claim 1, wherein said attachment position is at a waist or torso, and wherein said displacement measurement is a measurement of a displacement of the waist or torso of said person, along said ambulation direction (x-x). ### Claim 26 (depends on 25) The ambulation assistance wearable device according to claim 25, wherein said attachment position corresponds to a central position of the waist or torso of a person. ### Claim 27 (depends on 25) The ambulation assistance wearable device according to claim 25, wherein said light source (4) is mounted as movable with respect to said support (2), and wherein said at least one front stepping point (6, 61, 62) is comprised in a mark (7), generated by said beam of visible light (5), said at least one mark (7) having circular shape symmetrically arranged along said ambulation direction (x-x). ### Claim 28 (depends on 27) The ambulation assistance wearable device according to claim 27, wherein said at least one front stepping point (6, 61, 62) is displaced laterally right or left with respect to said ambulation direction (x-x). ### Claim 29 (depends on 25) The ambulation assistance wearable device according to claim 25, further comprising an actuator (10) operatively connected to said processing unit (9) and said light source (4) and configured, in use, to move said light source (4) along a plane perpendicular with respect to a ground and crossing at least said ambulation direction (x-x). ### Claim 30 (depends on 25) The ambulation assistance wearable device according to claim 25, further comprising a deflector (11) for said beam of visible light (5), said deflector being configured to receive said beam of visible light (5) emitted by said light source (4) and to transmit said beam towards the ground, along a plane perpendicular to the ground and crossing at least said ambulation direction (x-x), said deflector (11) being operatively connected to said processing unit (9) and orientable as a function of the at least one control parameter (pc) transmitted by said processing unit (9). ### Claim 31 (depends on 30) The ambulation assistance wearable device according to claim 30, wherein said at least one control parameter (pc) is a parameter indicating a rotation of a femur with respect to an axis perpendicular to the ground and/or a measurement of an instant displacement of a torso or waist of said person. ### Claim 32 A method for assisting ambulation of a person, comprising: detecting at least one control parameter (pc) indicating an ambulation condition of at least one person; and emitting, as a function of said previously detected at least one control parameter (pc), a beam of visible light (5, 51, 52) by a light source (4, 41, 42) towards a ground, and at least at one front stepping point (6, 61, 62) to which said person has to move a foot employed, in that moment, in the ambulation, wherein said at least one control parameter (pc) corresponds to an angle or to a displacement measurement related to an instant position of at least one part of a body of said person, during ambulation; measuring a position in a space of the light source and an orientation thereof in reference to a direction of propagation of a light beam emitted therefrom; and changing an orientation of the light source in reference to a direction of propagation of the light beam emitted as a function of measurement values of position and orientation of said light source such to hold steady the position on an incidence plane of a footprint generated by the light beam emitted by the light source. ### Claim 33 (depends on 32) The method according to claim 32, wherein said at least one control parameter is influenced by: a rotation of a femur of a lower limb of said person, with respect to an axis perpendicular to a ground, an instant torsion between femur and tibia of said lower limb, and/or an instant lateral yielding of a knee joint of said lower limb; or said at least one control parameter is influenced by a displacement measurement of a waist or torso of said person, during ambulation along a forward direction (x-x). ### Claim 34 (depends on 33) The method according to claim 33, wherein emitting the beam of visible light (5, 51, 52) comprises displacing the light source (4, 41, 42) and/or deflecting said beam of visible light (5, 51, 52) coming out from said light source (4, 41, 42), said displacing and said deflecting being executable automatically in sequence, one before the other or contemporaneously as a function of a value of said at least one control parameter (pc), said beam of visible light being directed to a respective front stepping point (6, 61, 62) to the ground so as to remain still, during ambulation, in a time period in which said person lifts a foot to bring the foot at said at least one front stepping point. ### Claim 35 (depends on 34) The method according to claim 34, when said light source (4, 41, 42) is worn by a person at a knee joint, wherein step of displacing comprises at least one sub-step of displacing said light source (4, 41, 42), along a plane crossing a knee joint and diagonal and/or parallel to said forward direction (x-x), such that said light source projects said beam of visible light (5, 51, 52) in a corresponding front stepping point (6, 61, 62), so as to remain still, during the ambulation of the person wearing said light source (4, 41, 42), in a time period in which said person makes a step in the forward direction (x-x). ### Claim 36 (depends on 32) The method according to claim 32, wherein said light source (4, 41, 42) is worn by the person at a knee joint, wherein deflecting comprises at least one sub-step of deflecting said beam of visible light (5, 51, 52) along a plane crossing the knee joint and diagonal and/or parallel to said forward direction (x-x), such that said beam of visible light (5, 51, 52) is projectable in a corresponding front stepping point (6, 61, 62), to a ground, said front stepping point remaining still, during the ambulation of the person wearing said light source (4, 41, 42), in a time period in which said person makes a step in the forward direction. ### Claim 37 (depends on 32) The method according to claim 32, wherein said light source (4) is worn by the person, at a waist and/or torso, wherein displacing the light source (4) comprises a sub-step of displacing said light source (4) along a plane substantially perpendicular to a ground and crossing said forward direction (x-x). ### Claim 38 (depends on 32) The method according to claim 32, wherein said light source (4) is worn by the person at a waist and/or torso, wherein deflecting comprises at least one sub-step of deflecting said beam of visible light (5) along at least one plane substantially perpendicular to a ground and crossing said forward direction (x-x), such that said beam of visible light (5) is projectable in a corresponding front stepping point (61, 62), to the ground, so as to remain still, during the ambulation of the person wearing said light source (4), in a time period in which said person makes a step in the forward direction. ### Claim 39 (depends on 32) The method according to of claim 32, wherein the step of emitting said beam of visible light (5, 51, 52) occurs in a continuous or intermittent manner. ### Claim 40 (depends on 32) The method according to claim 32, further comprising a step (130) of transmitting said at least one control parameter (pc) to a remote control unit and of receiving at least one control signal (sc′″) of said beam of visible light (5, 51, 52) as a function of an analysis performed by said remote control unit. ### Claim 41 (depends on 40) The method according to claim 40, wherein said analysis comprises at least one comparison between said at least one control parameter (pc) and at least one reference parameter, and wherein said at least one reference parameter comprises one or more threshold ranges based on gender, age and pathology of said person.