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2. 发明申请

WO2018023109A1 POWERED GAIT ASSISTANCE SYSTEMS 审中-公开
公开(公告)号：WO2018023109A1
公开(公告)日：2018-02-01
申请号：PCT/US2017/044625
申请日：2017-07-31
申请人： THE UNITED STATES OF AMERICA, AS REPRESENTED BY THE SECRETARY, DEPARTMENT OF HEALTH AND HUMAN SERVICES
发明人： BULEA, Thomas, C. , LERNER, Zachary, F. , DAMIANO, Diane, L. , GRAVUNDER, Andrew
IPC分类号： A61H3/00 , B25J9/00 , A61F2/68 , A61F2/72
摘要： Disclosed are powered gait assistance systems that include a controller, sensors, and a torque applicator (motor, spring, etc.) coupled to a patient's hips, thighs, knee, lower leg, ankle, and/or foot and operable to apply assistive torque to the patient's leg joint(s) to assist the patient's volitional joint actuating muscle output during selected stages of the patient's gait cycle, such that the applied torque improves the patient' s leg posture, muscle output, range of motion, and/or other parameters over the gait cycle. The sensors can include a torque sensor that measures torque applied, one or more joint angle sensors, a ground contact sensor that measures ground contact of the patient's foot, and/or other sensors. The controller can determine what stage of the patient's gait cycle the patient' s leg is in based on sensor signals and cause the torque applicator to apply corresponding torque to the joint(s) based on the gait cycle stage, sensor inputs, and known patient characteristics.
摘要翻译：所公开的是动力步态辅助系统，其包括耦合到患者臀部，大腿，膝盖，小腿，脚踝和/或腿部的控制器，传感器和转矩施加器（马达，弹簧等）或足部，并且可操作以在患者的步态周期的选定阶段期间向患者的腿关节施加辅助扭矩以协助患者的意志性关节致动肌肉输出，使得施加的扭矩改善患者的腿部姿势，肌肉输出，运动范围和/或步态周期中的其他参数。传感器可以包括测量施加的扭矩的扭矩传感器，一个或多个关节角度传感器，测量患者脚部的地面接触的地面接触传感器，和/或其他传感器。控制器可以基于传感器信号确定患者的腿部所处的步态周期的哪个阶段，并且基于步态周期阶段，传感器输入和已知的患者使得转矩施加器将关联的转矩施加到关节（一个或多个）特性

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