Mechanical assisted active orthosis using a robotic application

• US 10,342,691 B2
• Filed: 01/30/2017
• Issued: 07/09/2019
• Est. Priority Date: 01/30/2016
• Status: Active Grant

• Current Assignee: Tokio Matsuzaki
• Original Assignee: Tokio Matsuzaki
• Inventors: Matsuzaki, Tokio
• Primary Examiner(s): Matter, Kristen
• Application Number:
  US15/420,085
• Publication Number:
  US 20170216075A1
• Time in Patent Office: 890 Days
• Field of Search: 601 5, 601 33
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/1121 Determining geometric values, e.g. centre of rotation or angular range of movement
• CPC Class Codes: A61B 5/369 Electroencephalography [EEG] devices for psychotechnics A61B5/16
• CPC Class Codes: A61B 5/389 Electromyography [EMG]
• CPC Class Codes: A61B 5/7282 Event detection, e.g. detecting unique waveforms indicative of a medical condition A61B5/4094, A61B5/4818, A61B5/349, A61B5/0823 take precedence
• CPC Class Codes: A61F 5/0125 the device articulating around a single pivot-point

Abstract

A knee orthosis provides varying levels of support to a patient during a stance phase and a swing phase of a gait cycle. The orthosis comprises an upper auxiliary support, a lower auxiliary support, an actuator, a sensor configured to detect a plurality of leg movements during the gait cycle and to output a plurality of detection signals corresponding to the detected leg movements, and a processor configured to determine whether the knee is in the stance phase or the swing phase of the gait cycle, to control the actuator to apply pressure on the lower auxiliary support when the knee is in the stance phase, and to release pressure when the knee is in the swing phase.

Claims

1. A knee orthosis apparatus for providing varying levels of support to a patient during a stance phase and a swing phase of a gait cycle, the apparatus comprising:

an upper auxiliary support adapted to be positioned at a lateral thigh region of the patient;

a lower auxiliary support adapted to be positioned at a lateral calf region of the patient;

an actuator adapted to be positioned between the upper and lower auxiliary supports;

a sensor configured to detect a plurality of leg movements during the gait cycle and to output a plurality of detection signals corresponding to the detected leg movements; and

a processor communicatively coupled to the sensor, wherein the processor is configured to;

determine whether the knee is in the stance phase or the swing phase of the gait cycle based on the plurality of detection signals,

control the actuator to apply pressure on the lower auxiliary support in a lateral direction relative to the upper auxiliary support when the knee is in the stance phase, and

control the actuator to release pressure on the lower auxiliary support when the knee is in the swing phase.

2. The knee orthosis apparatus of claim 1, wherein the processor is configured to determine whether the knee is in the stance phase or the swing phase by comparing the plurality of detection levels to a threshold, and determining that the knee is in the stance phase or the swing phase based on a result of a comparison of at least one detection level to the threshold.

3. The knee orthosis apparatus of claim 2,

wherein the sensor is an acceleration sensor and the plurality of detection levels represent a plurality of acceleration levels;

wherein when a predetermined number of acceleration levels are lower than the threshold, the processor is configured to determine that the knee is in the stance phase; and

wherein when a predetermined number of acceleration levels are higher than the threshold, the processor is configured to determine that the knee is in the swing phase.

4. The knee orthosis apparatus of claim 2,

wherein the sensor is an angular sensor and the plurality of detection levels represent a plurality of angular positions;

wherein the processor is further configured to calculate a rate of change of a predetermined number of angular positions;

wherein when the rate of change is lower than the threshold, the processor is configured to determine that the knee is in the stance phase; and

wherein when the rate of change is higher than the threshold, the processor is configured to determine that the knee is in the swing phase.

5. The knee orthosis apparatus of claim 2,

wherein the sensor is a force sensor and the plurality of detection levels represent a plurality of force levels;

wherein when a force level is higher than the threshold, the processor is configured to determine that the knee is in the stance phase; and

wherein when a force level is lower than the threshold, the processor is configured to determine that the knee is in the swing phase.

6. The knee orthosis apparatus of claim 2,

wherein the sensor is an electromyography (EMG) sensor or an electroencephalography (EEG) sensor and the plurality of detection levels represent EMG or EEG readings;

wherein when an EMG or EEG level is higher than the threshold, the processor is configured to determine that the knee is in the stance phase; and

wherein when an EMG or EEG level is lower than the threshold, the processor is configured to determine that the knee is in the swing phase.

7. The knee orthosis apparatus of claim 1, wherein the processor is further configured to vary an amount of pressure applied by the actuator during the stance phase, according to a manually entered user input.

8. The knee orthosis apparatus of claim 7, wherein the processor is further configured to:

accept a plurality of user inputs corresponding with a plurality of variable actuation pressure levels;

store each user input in a separate profile in a memory; and

in response to receiving a profile selection from the user, control the actuator to apply a level of pressure corresponding to the selected profile.

9. The knee orthosis apparatus of claim 1, wherein the processor is further configured to vary a window of time during which the actuator applies pressure during the gait cycle, wherein the window starts with the beginning of the stance phase, and ends before, during, or after the end of the stance phase, according to a manually entered user input.

10. The knee orthosis apparatus of claim 9, wherein the processor is further configured to:

accept a plurality of user inputs corresponding with a plurality of actuation pressure windows;

store each user input in a separate profile in a memory; and

in response to receiving a profile selection from the user, control the actuator to apply pressure during a window corresponding to the selected profile.