Orthopedic apparatus for walking and rehabilitating disabled persons including tetraplegic persons and for facilitating and stimulating the revival of comatose patients through the use of electronic and virtual reality units

• US 5,961,541 A
• Filed: 09/08/1998
• Issued: 10/05/1999
• Est. Priority Date: 01/02/1996
• Status: Expired due to Term

• Current Assignee: Benito Ferrati
• Original Assignee: Benito Ferrati
• Inventors: Ferrati, Benito
• Primary Examiner(s): Apley, Richard J.
• Assistant Examiner(s): LaMarca, William
• Application Number:
  US09/149,131
• Time in Patent Office: 392 Days
• Field of Search: 602/23, 602/26, 607/48, 607/49, 434/255, 434/307 R, 482/4, 482/902, 482/66, 601/34, 601/35
• US Class Current: 607/49
• CPC Class Codes: A61F 5/0102 specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
• CPC Class Codes: A61H 1/0237 for the lower limbs
• CPC Class Codes: A61H 1/0255 Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane A61H1/0214 takes precedence
• CPC Class Codes: A61H 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/163 holding means therefor
• CPC Class Codes: A61H 2201/1635 Hand or arm, e.g. handle hand-held, A61H2201/0153; fore-arm support, A61H2003/006
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1676 Pivoting
• CPC Class Codes: A61H 2201/5023 Interfaces to the user
• CPC Class Codes: A61H 2201/5048 Audio interfaces, e.g. voice or music controlled
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: A61H 3/008 Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses drawing-out devices A61H1/0218
• CPC Class Codes: A61H 3/04 Wheeled walking aids for disabled persons A61H3/06 takes precedence
• CPC Class Codes: Y10S 482/902 Employing specific graphic or video display

Abstract

An exoskeleton for the support of a patient'"'"'s body is jointed opposite the hip and knee articulations, and is provided with a number of small actuators that are designed to move jointed parts of the exoskeleton in accordance with the human gait. A control unit is programmed to control the operation of the actuators so as to impress on the exoskeleton the movements of the human gait. A remote control for operation of the control unit allows the patient to transmit commands to the unit in order to start or stop the lower limbs, as well as to adjust the step speed. An electronic virtual reality unit transmits to the patient, through a special helmet, virtual reality pictures and stimulation interactive with the walking movement that is impressed by the exoskeleton on the patient'"'"'s body. A framework can be used to steady and support the person and allow the person to walk at the same time, and has grips having operating push buttons for the remote control unit. Alternatively, a rail is suspended at a distance from the ground higher than human height for supporting and guiding a ball bearing or a slide slidable inside or on the rail. A metal framework is supported by the ball bearing or slide and provided with two suspenders or rods for supporting the exoskeleton of the patient.

Claims

1. An orthopedic apparatus comprising:

an exoskeleton to be attached to a person for active movement of limbs of the person and emulation of human gait;

a programmed control unit operably connected to said exoskeleton, operable to control said exoskeleton so as to move said exoskeleton in a movement corresponding to a human gait;

a virtual reality unit to be worn by the person, operable to transmit information to the person so as to generate a virtual environment;

a remote control unit operably connected to said virtual reality unit and said programmed control unit, operable to control both a movement of said exoskeleton via said programmed control unit and said virtual reality unit such that the virtual environment generated by said virtual reality unit corresponds to the movement of said exoskeleton controlled by said remote control so that the movement of said exoskeleton and the virtual environment generated by said virtual reality unit are coordinated.

2. An orthopedic apparatus as claimed in claim 1, wherein said remote control unit is operable to control and coordinate a speed of the movement of said exoskeleton via said programmed control unit and a speed of the virtual environment generated by said virtual reality unit.

3. An orthopedic apparatus as claimed in claim 1, wherein said remote control unit is operable to control and coordinate a starting of the movement of said exoskeleton via said programmed control unit and a starting of the virtual environment generated by said virtual reality unit.

4. An orthopedic apparatus as claimed in claim 1, wherein said remote control unit is operable to control and coordinate a stopping of the movement of said exoskeleton via said programmed control unit and a stopping of the virtual environment generated by said virtual reality unit.

5. An orthopedic apparatus as claimed in claim 1, wherein said remote control unit includes push buttons operable to receive control instructions from the person, and said remote control unit is operable to control both the movement of said exoskeleton and the virtual environment based on the control instructions received by said push buttons.

6. An orthopedic apparatus as claimed in claim 1, wherein said exoskeleton is to be attached to legs of the person, and said programmed control unit is operable to control said exoskeleton in a movement corresponding to a gait of human legs.

7. An orthopedic apparatus as claimed in claim 1, wherein said virtual reality unit includes a virtual reality helmet, to be worn by the person, operable to transmit the information to the person so as to generate the virtual environment.

8. An orthopedic apparatus as claimed in claim 1, further comprising a framework, including grips, operable to steady the person during the movement of said exoskeleton.

9. An orthopedic apparatus as claimed in claim 8, wherein said remote control unit includes push buttons, mounted on said grips, operable to receive control instructions from the person, and said remote control unit is operable to control both the movement of said exoskeleton and the virtual environment based on the control instructions received by said push buttons.

10. An orthopedic apparatus as claimed in claim 8, further comprising:

a conveyor belt operable to support the person during the movement of said exoskeleton, said conveyor belt having a support frame;

wherein said framework is fixed to said support frame and said programmed control unit is connected with said conveyor belt for controlling said conveyor belt such that a speed of said conveyor belt corresponds to a speed of the movement of said exoskeleton.

11. An orthopedic apparatus as claimed in claim 8, further comprising a source of pressurized fluid for operating said exoskeleton, wherein said source of pressurized fluid and said virtual reality unit are mounted on said framework.

12. An orthopedic apparatus as claimed in claim 9, further comprising:

a rail;

a slide member in contact with said rail such that said slide member is capable of sliding along said rail;

a framework, supported by said slide member, connected to said exoskeleton such that said slide member supports said framework and said exoskeleton from said rail.

13. An orthopedic apparatus as claimed in claim 12, wherein said slide member includes a ball bearing.

14. An orthopedic apparatus as claimed in claim 12, wherein said rail extends over a circular route.

15. An orthopedic apparatus as claimed in claim 12, wherein said rail extends over a rectilinear route and comprises a device which causes said framework to revolve 180 degrees at an end of the route so that the person can revolve and begin anew in an opposite direction.

16. An orthopedic apparatus as claimed in claim 1, further comprising:

a guide rail;

a slide member in contact with said guide rail such that said slide member is capable of sliding along said guide rail;

a walker framework including legs, wherein at least one of said legs includes a wheel, and at least one of said legs is fixed to said slide member so as to restrict movement of said walker framework along said guide rail.

17. An orthopedic apparatus as claimed in claim 1, wherein said exoskeleton includes jointed members connected to a plurality of bands that are capable of being connected to the person, and said programmed control unit is mounted to at least one of said bands.

33. An orthopedic apparatus as claimed in claim 15, further comprising:

a guide rail;

a slide member in contact with said guide rail such that said slide member is capable of sliding along said guide rail;

a walker framework including legs, wherein at least one of said legs includes a wheel, and at least one of said legs is fixed to said slide member so as to restrict movement of said walker framework along said guide rail.

18. An orthopedic apparatus comprising:

an exoskeleton to be attached to a person for active movement of limbs of the person and emulation of human gait;

a virtual reality unit to be worn by the person, operable to transmit information to the person so as to generate a virtual environment;

a programmed control unit operably connected to said exoskeleton and said virtual reality unit, operable to control said exoskeleton so as to move said exoskeleton in a movement corresponding to a human gait and to control said virtual reality unit;

a remote control unit operably connected to said programmed control unit, operable to control both a movement of said exoskeleton and said virtual reality unit via said programmed control unit such that the virtual environment generated by said virtual reality unit corresponds to the movement of said exoskeleton controlled by said remote control so that the movement of said exoskeleton and the virtual environment generated by said virtual reality unit are coordinated.

19. An orthopedic apparatus as claimed in claim 18, wherein said remote control unit is operable to control and coordinate a speed of the movement of said exoskeleton and a speed of the virtual environment generated by said virtual reality unit via said programmed control unit.

20. An orthopedic apparatus as claimed in claim 18, wherein said remote control unit is operable to control and coordinate a starting of the movement of said exoskeleton and a starting of the virtual environment generated by said virtual reality unit via said programmed control unit.

21. An orthopedic apparatus as claimed in claim 18, wherein said remote control unit is operable to control and coordinate a stopping of the movement of said exoskeleton and a stopping of the virtual environment generated by said virtual reality unit via said programmed control unit.

22. An orthopedic apparatus as claimed in claim 18, wherein said remote control unit includes push buttons operable to receive control instructions from the person, and said remote control unit is operable to control both the movement of said exoskeleton and the virtual environment based on the control instructions received by said push buttons.

23. An orthopedic apparatus as claimed in claim 18, wherein said exoskeleton is to be attached to legs of the person, and said programmed control unit is operable to control said exoskeleton in a movement corresponding to a gait of human legs.

24. An orthopedic apparatus as claimed in claim 18, wherein said virtual reality unit includes a virtual reality helmet, to be worn by the person, operable to transmit the information to the person so as to generate the virtual environment.

25. An orthopedic apparatus as claimed in claim 18, further comprising a framework, including grips, operable to steady the person during the movement of said exoskeleton.

26. An orthopedic apparatus as claimed in claim 25, wherein said remote control unit includes push buttons, mounted on said grips, operable to receive control instructions from the person, and said remote control unit is operable to control both the movement of said exoskeleton and the virtual environment based on the control instructions received by said push buttons.

27. An orthopedic apparatus as claimed in claim 25, further comprising:

a conveyor belt operable to support the person during the movement of said exoskeleton, said conveyor belt having a support frame;

wherein said framework is fixed to said support frame and said programmed control unit is connected with said conveyor belt for controlling said conveyor belt such that a speed of said conveyor belt corresponds to a speed of the movement of said exoskeleton.

28. An orthopedic apparatus as claimed in claim 25, further comprising a source of pressurized fluid for operating said exoskeleton, wherein said source of pressurized fluid and said virtual reality unit are mounted on said framework.

29. An orthopedic apparatus as claimed in claim 18, further comprising:

a rail;

a slide member in contact with said rail such that said slide member is capable of sliding along said rail;

a framework, supported by said slide member, connected to said exoskeleton such that said slide member supports said framework and said exoskeleton from said rail.

30. An orthopedic apparatus as claimed in claim 29, wherein said slide member includes a ball bearing.

31. An orthopedic apparatus as claimed in claim 29, wherein said rail extends over a circular route.

32. An orthopedic apparatus as claimed in claim 29, wherein said rail extends over a rectilinear route and comprises a device which causes said framework to revolve 180 degrees at an end of the route so that the person can revolve and begin anew in an opposite direction.

34. An orthopedic apparatus as claimed in claim 18, wherein said exoskeleton includes jointed members connected to a plurality of bands that are capable of being connected to the person, and said programmed control unit is mounted to at least one of said bands.

35. A method for rehabilitating motor abilities of a patient for use with an exoskeleton controlled by a programmed control unit so as to have a movement corresponding to a human gait, a virtual reality unit, and a remote control unit, said method comprising:

attaching the exoskeleton to the patient;

fitting the virtual reality unit to the patient;

transmitting information to the patient with the virtual reality unit so as to generate a virtual environment for the patient; and

controlling both the movement of the exoskeleton corresponding to the human gait and the virtual reality unit with the remote control such that the virtual environment generated by the virtual reality unit corresponds to the movement of the exoskeleton controlled by the remote control so that the movement of the exoskeleton and the virtual environment generated by the virtual reality unit are coordinated.

36. A method as claimed in claim 35, comprising:

controlling and coordinating a speed of the movement of the exoskeleton and a speed of the virtual environment generated by the virtual reality unit with the remote control.

37. A method as claimed in claim 35, comprising:

controlling and coordinating a starting of the movement of the exoskeleton and a starting of the virtual environment generated by the virtual reality unit with the remote control.

38. A method as claimed in claim 35, comprising:

controlling and coordinating a stopping of the movement of the exoskeleton and a stopping of the virtual environment generated by the virtual reality unit with the remote control.

39. A method as claimed in claim 35, comprising:

attaching the exoskeleton to legs of the patient; and

controlling the exoskeleton in a movement corresponding to a gait of human legs with the remote control.

40. A method as claimed in claim 35, for further use with a virtual reality helmet, said method comprising:

fitting the virtual reality helmet to the patient; and

transmitting the information to the patient via the virtual reality helmet so as to generate the virtual environment.

41. A method as claimed in claim 35, for further use with a framework, said method comprising:

steadying the patient with the framework during the movement of the exoskeleton.