WO2009051574A1

WO2009051574A1 - Bipedal or multi-legged robotic orthesis and exoskeleton system

Info

Publication number: WO2009051574A1
Application number: PCT/TR2008/000119
Authority: WO
Inventors: Necati Hacikadiroglu
Original assignee: Necati Hacikadiroglu
Priority date: 2007-10-19
Filing date: 2008-10-17
Publication date: 2009-04-23
Also published as: TR200707160A2

Abstract

The present invention relates to a bipedal or multi - legged robotic orthesis and exoskeleton system that can be used for apoplectic persons and robots. The system developed in the present invention is characterized in that, ' It has no outfit form, ' Has struts (12) possessing any type or several types of rotational and/or linear movement motors (3,11) and passing through any side of the right or left legs of the individuals, ' The person is suspended or connected to the struts (12) from any part of his/her body, ' Has motors (3,11) installed for moving the plates (6), functioning as feet, to a specific point and/or to cause the same to perform a specific action, and ' The feet of the suspended person are attached to the plates (6) of the system.

Description

DESCRIPTION BIPEDAL OR MULTI - LEGGED ROBOTIC ORTHESIS AND EXOSKELETON SYSTEM

RELATED FIELD OF THE INVENTION

The present invention relates to a bipedal or multi - legged robotic orthesis and exoskeleton system capable of making, in particular, apoplectic (paraplegic or tetraplegic) persons and persons that have partially or completely lost the walking organs or persons that have partially or completely lost their walking ability due to whatsoever reasons, to walk. The present invention can also be used at bipedal or multi - legged robots instead of human beings.

PRIOR ART

For a long time, studies for producing various orthesis (knee - ankle - foot orthesis - hkafo) for the apoplectic (paraplegic or tetraplegic) persons that can enable them to walk are in progress. Even the state-of-the-art devices (H - KAFO) produced as a result of such studies proved to be highly insufficient for covering the needs of the apoplectic individuals. The root cause underlying this problem is that the produced orthesis are to be driven by the arms or via some body movements of the apoplectic person.

More comprehensively speaking, motors cannot be used at such devices, as the body of the apoplectic person cannot carry the device together with the weight of the motor. On the other hand, in cases when the device carries the apoplectic person, the system becomes off - balance when the device lifts its leg and even the apoplectic person holds on to a walker such as walking stick with its arms, his/her arms shall slog away or shall prove to be insufficient for balancing this heavy tool.

Therefore, motors cannot be used at any knee - ankle - foot orthesis until the problem associated with the balance is solved as the weight of the system complete with the motor itself, its battery (accumulator), driver units and motor connectors makes such device unfit for use. Thus, almost no orthesis manufactured so far incorporates any motor. (Orthesis applications without motor are given in Figures 1 and 2).

PURPOSE OF THE INVENTION

In the present invention, it is intended to develop a bipedal or multi - legged robotic orthesis and exoskeleton system that; • Individuals can put on and that have motors installed at various parts and that such motors so installed basically do not have any form (outfit form) placed to the body for the purpose of moving the joints of the human being,

• Has struts possessing any type or several types of rotational and/or linear movement motors and passing through any side of the right or left legs of the individuals,

• Is capable of carrying the person, instead of the person to carry it, by means of suspending or connecting the person to such struts from his/her shoulder or waist or from any part of the body,

• Has motors installed for moving the plates, functioning as feet, to a specific point and/or to cause the same to perform a specific action,

• The feet of the suspended person is pulled from their soles when the plates are moving to a specific direction by attaching the feet of the suspended person to the plates of the system and where the joints are bend without any problem,

• As a consequence of the previous paragraph, the movement of the joints actually does not assist to the movement of the system; and is basically intended for good appearance and exercise,

• Is capable of carrying the person, even if the person has lost his/her legs or is suffering from the condition of not being bale to move his/her joints, and execute all commands free of any problems,

• Is applicable to any and all types of bipedal or multi - legged robots. DESCRIPTION OF THE FIGURES

The figures prepared for explanation of the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention in a better way are presented as annexed hereto. The description of the figures is given as follows.

Figure 1 - View of orthesis without motor (example 1)

Figure 2 - View of orthesis without motor (example 2)

Figure 3 - Orthesis with angular movement motor (position 1)

Figure 4 - Orthesis with angular movement motor (position 2)

Figure 5 _: Orthesis with angular movement motor (position 3)

Figure 6 - Orthesis with angular movement motor (position 4) Figure 7 - General frontal view of the "not walking" orthesis with linear movement module

Figure 8 - Linear movement module (position 1)

Figure 9 - Linear movement module (position 2)

Figure 10 - Frontal view of orthesis with linear movement module, crouching position

Figure 11 - General view of threaded rod shift module and sliding car (position 1)

Figure 12 - General view of threaded rod shift module and sliding car (position 2)

Figure 13 - General view of the orthesis with linear movement module, threaded rod shift module and sliding car module

Figure 14 - General frontal view of the orthesis with linear movement module, threaded rod shift module and sliding car module

Figure 15 - General side view of the orthesis with linear movement module, threaded rod shift module and sliding car module (different position)

Figure 16 - Orthesis foot part rotation motor view

Figure 17 - View of the foot part of the orthesis designed in such manner that the linear feed module cleaves into the ankle of the patient

Figure 18 - View of the walking position of the foot part of the orthesis designed in such manner that the linear feed module cleaves into the ankle of the patient

Figure 19 - Exploded view of orthesis with angular movement motor (without wheel)

Figure 20 - Exploded view of orthesis with linear movement motor (without wheel)

Figure 21 - Exploded view of orthesis with angular movement motor (with wheel)

Figure 22 - Exploded view of orthesis with linear movement motor (with wheel)

Figure 23 - Alternate embodiment front view

Figure 24 - Alternate embodiment side view

Figure 25 - Alternate embodiment front view front transverse view

Figure 26 - Alternate embodiment - side view while stepping, right

Figure 27 - Alternate embodiment - side view while stepping, left DESCRIPTION OF THE CONSTITUENTS (COMPONENTS - PARTS - SECTIONS) IDENTIFIED IN THE FIGURES and FORMING THE PRESENT INVENTION

The parts presented in the figures prepared for explanation of the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention in a better way are numbered separately. Definition of the parts corresponding to the respective numbers is given as follows.

1- Orthesis without motor

2- Orthesis with rotational motor

3- Feed module

4- Feed module fixed part

5- Feed module movable part

6- Plate

7- Connection outfit suspended from top and its component

8- Threaded rod shift module (linear module)

9- Sliding cars

10- Threaded rod shift modules connectors (central connection) 11- Rotational motor

12- Orthesis with rotational motor, interconnection between the motors and support strut

13- Angular rotational motor

14- Motor driven wheels

15- Orthesis with linear motor

16- Components providing linear movement (various types of components for providing linear movement)

17- Section for suspension of the person (suspension section)

One of the basic principles of the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention is to ensure that the orthesis system to make the patient walk or go forward at grounds with level difference such as staircases and to realize sitting and standing functions to carry the patient. Interviews were conducted with apoplectic persons and the type of tool/device they require was determined in order to develop the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention. It is determined that such tool should be both robust and reliable in terms of usage and balance, should allow for various movements and should have dimensions that allows various movements such as passing through a door or turn within a narrow space concerning the dimension, that is to say, should have a thin structure.

In order to ensure this, it is considered to use rotational (angular) movement motors (11), which are commonly used at many bipedal robots as an embodiment, as adequate. A system was developed by employing the rotational (angular) movement motors (11) together with interconnecting and support struts (12). Usage of this type of motors (11) can be briefly explained as follows. For example, in order to bend the knee joint of a person to engage with the sitting movement; it is necessary to install a rotational - angular movement motor (11) at the location where the person's knee joint shall fall on when that persons foot is connected to the robot. Therefore, when the motor rotates 75 degrees, it also rotates the interconnection and support strut (12) to the same degree and as a result, the knee of the apoplectic person can bend / rotate 75 degrees, as it is connected to the extensions (12) of the motor. (The embodiment in question is given in Figures 3 and 40-

Likewise, a motor for each leg installed to the waist section from the front might direct that leg to the left or right direction, for example, as long as the leg do not touch to the ground to ensure that the system takes that foot to the desired point at the lateral direction and to ensure parallelism of to foot to the ground by virtue of the motor installed at the ankle. (The embodiment in question is given in Figures 5 and 6).

As a result of the studies conducted, it is determined that this design, incorporating angular movement motor, for any robot operated without any problems while utilization of this system at any product to cause an apoplectic person to walk could lead to some serious problems. Several of such problems are given as follows:

- Motors to abandon operation in case of any electrical malfunction and thus cause the patient to collapse

- The motors of required power capacity to be large in size

- Overloading conditions to occur at undesired spots in case any one motor to abandon operation

- Difficulty encountered in programming and control aspects Generation of a Shockwave while placing the foot to the ground, which damages the motors

- Complexity of using one or more motors for each joint in orthopedic terms

- Failure to place the external components of the motor in an efficient manner due to the great number of parts active according to each other

Following evaluation of the problems set forth above, it is determined that any such machinery (orthesis system) to be designed for human beings should have a design that differ greatly from the human beings.

The actions required from the legs of any bipedal walker system are as follows:

- To press both feet to the ground by having both legs to have same length at vertical during standing position

- While starting to walk, one leg to contract at vertical axis to sweep the corresponding foot of the feet

- The contracted leg to carry the corresponding foot to the desired point at any desired time and to step to the ground.

As a result of the studies conducted after determination of the fact that the walking form required to be achieved requires the properties set forth above; it is understood that linear movement motors (3) and modules to be used in lieu of or in conjunction with the rotational (angular) movement motors at bipedal or multi - legged robots facilitate design and construction of a bipedal or multi - legged robotic orthesis.

Furthermore, it can also be ensured to place such motors (3) in a manner not to cause any orthopedic problems for the persons in any orthesis; even with various angles, if necessary.

More comprehensively speaking; consider that an apoplectic person puts on an outfit resembling a parachute outfit. This person could be suspended to two struts located over (above) the shoulder or waist in a manner not to cause any problems in orthopedic terms.

In the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention; the person is first suspended to two struts (feed modules) (3) protruding upwards from his/her both sides. Each of these struts (3) is the feed module (3) itself, which is one of the two types of linear movement modules to be used, or is an extension inserted to (installed to) the same in the same direction. The module (3) comprises of two parts, one of which is fixed (4), while the other is movable (5). A plate (6), serving as the foot of the orthesis, shall be mounted to the bottom part of the module (3). The feed modules (3) shall be connected to the patient from the sole of the patient from the plates (6) located at the bottom and via a rope (7) from the upper end of the module in a manner to attach to the shoulder. (Figures 7, 8 and 9)

The purpose of the feed modules (3) is to maintain the person standing upright and to lift the feet during walking or climbing stairs or sitting movements.

When the command is sent and both of the modules (3) located at right and left part of the patient are contracted, as the waist, knee and ankle joints of the patient freely moves, they shall bring the patient to crouching or sitting position without any stress by bending in conjunction with the exoskeleton (Figure 10).

In the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention, these modules (3) are not connected to each other but connected to a secondary type of module located in between these modules, that is to say the threaded rod shift module (8) and the sliding cars (9) located above this secondary module (9) and the threaded rod shift modules (8) are connected to each other via a connector piece - central connection (10) (Figures 11, 12, 13 and 14). The connector piece - central connection (10) is also connected to the apoplectic person.

In principle, it would be sufficient to interconnect the components at the system that provide linear movement in some manner and to suspend/seat the person from any part to this system from its suspension section (17) (for example, Figures 23, 24, 25, 26 and 27). Each embodiment might have different advantages and disadvantages.

The threaded rod shift module (8) and the sliding cars (9) located above these provide the forward and backward movement according to the horizontal plane. The forward / backward movement of the sliding cars (9) is furnished by the threaded rod shift module (8) and thus each of the feed modules (3) is able to move forward separately. By this manner the body and each of the feet of the patient can take every desired position (including the complex positions) according to each other and thus cause the patient to walk. (Figure 15)

The system also incorporates one angular movement motor (13) at each of the struts and allows the patient to perform turning movement (Figure 16). The angular movement motor (13) is also a variety of rotational motor (11). Other than these motors, there are also angular movement motors (11) or linear motors - feed modules (3) that can be installed between the waist and the strut or directly to the waist itself in order to alter the angle of both feet according to each other.

In the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention; all motors are located on the struts passing from the sides as can be seen from the figures. That is, each motor installed is incorporated in the system not to move the joint of the patient, but to carry the plates (6) serving as feet at the system to a specific point and/or to cause any specific movement to be performed. As the feet of the suspended person are attached to the plates (6) of the system, the plates (6) also pull the feet from their soles while moving to a specific direction and the joints also bend without any problem. The movement of the joints actually does not assist to the movement of the system; and is basically intended for good appearance and exercise.

As seen from the figures, utilization of 4 linear movement motors and by using only 6 motors in total allows the apoplectic patient to perform all basic moves that the patient requires.

In the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention, the desired movements are performed by means of placing the lineer movement components (16) to any location at any side of the body according to the needs of the person and suspending or seating the person to different locations of the system in various manners from the system's suspension section (17).

The benefits of an orthesis designed in this manner, when compared to an orthesis employing angular movement motors, shall be as follows:

Maintain the final position and not trip in case the motors abandon operation due to any electrical malfunction

- Avoid overloading at any undesired spots when a single motor abandons operation

- Ease of programming and control operations

- Absorbing the Shockwave generated during stepping the feet to the ground by the modules and thus avoid damages to the motors

- Ease of designing a connection that is problem - free in orthopedic terms

- The dimensions of the device to be only several centimeters wider than the feet of the patient

- The motor components to be small and few in numbers as the loads are always fully perpendicular - Effective placement of the external components of the motor as the number of parts moving according to each other are very few

On the other hand, another factor to be taken into consideration in designing such a tool should be the wares present within confined spaces. For example, the distance between a table and a chair within a house could be 40 cm; however, the width of any corridor cannot be 40 cm. The reason for this is that human beings become slimmer towards the feet and becomes thick towards shoulders. This means that objects lower than 60 cm can be placed closer to each other.

In such environments, it is of paramount importance that any orthesis to carry a person to become slimmer downwards together with the ankles in compliance with the anatomy of a human being. Although designing such a device by employing rotational motors is extremely easy, it is also possible to perform the same by employing linear motors. What must be done is solely to place the feed linear motor (3) as sloped in a manner to cleave into the ankle of the patient. (Figure 17)

There are also two further secondary benefits of placing the protruding linear modules (feed module) (3) as sloped in both sides. First of all, as the legs diverge from each other when the apoplectic person lifts its foot and as the person requires lifting of the leg in order to pass one leg besides the other, his/her legs shall not rub against each other and thus become irritated. Secondly, it is possible to ensure that the foot plates engage with the horizontal plane while one leg is at front by further increasing the slope of the modules slightly and thus the system shall be more stable and balanced against tripping inwards at the horizontal plane (Figure 18).

In the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention; motor driven wheels (14) can also be installed at the bottom part of the plates (6) located at the bottom of the system. By this way, the apoplectic person can also use the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention by moving on the smooth surfaces by means of the motor driven wheels (14). In case the apoplectic person wishes to step on the pavement or move at surfaces with level difference or to climb stairs, then he/she might stop and fix the motor driven wheels (14) via brakes and move forward as explained above by means of rotational motors (11) or linear movement motors (3) and threaded rod shift module (8) and the sliding cars (9) (Figures 21 and 22). In case any person using the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention wishes to sit to any chair or couch, he steps in front of the couch and contracts both of the modules (3) located on each side in order to detach him/her from the system and, as the waist, knee and ankle joints of the patient moves freely in this manner, he/she might sit on the chair / coach by performing the sitting - crouching position without any difficulty. The patient then removes the connector piece - central connection (10) and the ropes (7). After such removal, the patient causes the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention to move to any other location without carrying the apoplectic patient by means of a remote control.

In conclusion, the bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention is a system that comprises of both linear movement motors and rotational movement motors.

The studies conducted under this invention revealed how linear movement motor varieties might also be used at the orthesis systems designed for human beings.

The bipedal or multi - legged robotic orthesis and exoskeleton system developed in the present invention could also be used to allow any and all types of robot, whether bipedal or multi - legged, to advance on smooth or rough surfaces or to walk backwards, to climb surfaces with steps such as staircase or pavement, and perform sitting or standing up actions by virtue of a remote control or command program (software) installed. In such embodiment, the robot replaces the apoplectic patient.

Claims

CLAIMS - The bipedal or multi - legged robotic orthesis and exoskeleton system developed in order to be used at all types of walker orthesis and products that assist walking produced for human beings; and characterized in that

• Individuals can put on and that have motors installed at various parts and that such motors so installed basically do not have any form (outfit form) placed to the body for the purpose of moving the joints of the human being,

• Has struts possessing any type or several types of rotational (11) and/or linear movement motors (3) and passing through any side of the right or left legs of the individuals,

• Has motors (3 and 11) installed for moving the plates (6), functioning as feet, to a specific point and/or to cause the same to perform a specific action, and

• The feet of the suspended person is pulled from their soles when the plates (6) are moving to a specific direction by attaching the feet of the suspended person to the plates (6) of the system and where the joints are bend without any problem. - The bipedal or multi - legged robotic orthesis and exoskeleton system developed in order to be used at all types of walker orthesis and products that assist walking produced for human beings; and characterized in that the system comprises of linear movement motors (modules) (3) and their varieties and the angular movement motors (11) concomitantly. - The bipedal or multi - legged robotic orthesis and exoskeleton system developed in order to be used at all types of walker orthesis and products that assist walking produced for human beings; and characterized in that the system comprises of solely the linear movement motors (modules) (3) and/or their varieties concomitantly. - The bipedal or multi - legged robotic orthesis and exoskeleton system developed in order to be used at all types of walker orthesis and products that assist walking produced for human beings; and characterized in that the system comprises of solely the rotational movement motors (modules) (11) and/or their varieties concomitantly. - The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the threaded rod shift modules (8) are interconnected to each other via connector pieces - central connection (10). - The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the connector pieces - central connection (10) is also connected to the person. - The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the linear movement components (16) are placed to any location at any side of the body according to the needs of the person and the person is suspended or seated to different locations of the system in various manners from the system's suspension section (17). - The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the linear movement motors (modules) (3) and their varieties are in a sloped manner and/or in a manner to descend with the same angle as the legs in order to keep the lower part of the orthesis as thin. - The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the modules (struts) passing from any side of the left and right legs of the person are linear movement motors (feed modules) (3).0- The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the feed modules (3) passing from left and right side of the person comprises of feed module fixed part (4) and feed module movable part (5) and the components connected to these in the same direction. 1- The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the system incorporates threaded rod shift module (8) and the sliding cars (9) that furnish forward movement and connected to the struts via these parts. 2- The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the bottom parts of the plates (6) at the lower part of the system have motor driven wheels (14) installed. 3- The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that each strut contains angular movement motor (13) in order to perform turning movement. - The bipedal or multi - legged robotic orthesis and exoskeleton system according to any of the foregoing claims, characterized in that the linear movement modules are used as legs and/or leg extensions of the bipedal or multi - legged walker systems (robots).