US 7,153,242 B2Granted

Gait-locomotor apparatus

OwnerAmit Gofferinventor

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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.

Claims64

Dependent claims

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 more elements

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.

13 more elements

Dependencies are inferred from the claim text.

Facts

Application: 09/864,845Filed 24 May 2001
Published: US 2003/0093021 A115 May 2003
Granted: 26 Dec 2006
Term ends: Not estimatedThe source records don’t support an estimate.

Classification9 codes

B25J 9/0006
Program-controlled manipulators: exoskeletons, i.e. resembling a human figure
A61F 5/0102
Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or…
A61N 1/36003
For stimulation: of motor muscles, e.g. for walking assistance
A61H 3/008
Appliances for aiding patients or disabled persons to walk about: using suspension devices for supporting the body in an upright walking or…