Therapeutic and/or training device for a person's lower limbs using a mechanical orthetic device and a neuromuscular stimulation device
First Claim
1. A device for re-educating and/or training the lower limbs of a person, in particular a person having an impairment of the central nervous system (paraplegia, hemiplegia), comprising a mechanical orthetic device arranged to constitute an interface with at least one of the lower limbs of the patient and a neuromuscular stimulation device comprising at least one pair of electrodes intended to act on the relevant muscle or muscle group of the said limb of the patient, the said orthetic device comprising at least one articulation provided with an actuating motor of the orthesis and with an angular sensor and at least one force sensor, the said sensors being coupled to a control device controlling the stimulation device, with closed-loop continuously controlled in real time retrocontrol means of said stimulation device, thereby generating a neuromuscular stimulation providing an active motion of said limbs of the patient, in a manner which is coordinated with a closed-loop continuous control system controlling said actuating motor of the orthesis in real time by means of the said angular sensor and force sensor, whereby said actuating motor of the orthesis provides counter pre-programmed resistance loads and compensates the gravity and inertial effects of the orthesis.
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Accused Products
Abstract
The invention concerns a therapeutic device comprising a mechanical orthotic element (2, 3, 4) designed to constitute a contact surface with at least the patient'"'"'s lower limbs and a neuromuscular stimulation element (33) including at least a pair of electrodes (37, 38) designed to act on the muscle or muscular group concerned of said patient'"'"'s limb. The orthotic element comprises two orthoses including each three segments (2, 3, 4) designed to co-operate (11, 13; 12, 14; 15) with respectively the patient'"'"'s thigh, leg and foot. The first segment is connected at one of its ends through a first motorised articulation (9) to an element (10) designed to co-operate with the patient'"'"'s body at his hips and at its other end through a second motorised articulation (7) to one of the ends of the second segment. The other end of the second segment is linked through a third motorised articulation (8) to the third segment. Each of the articulations (6, 7, 8) is provided with an angular sensor and force and torque sensors, coupled to the control member (31) of the stimulation device so as to enable feedback control by closed loop adjustment of the stimulation device.
102 Citations
22 Claims
- 1. A device for re-educating and/or training the lower limbs of a person, in particular a person having an impairment of the central nervous system (paraplegia, hemiplegia), comprising a mechanical orthetic device arranged to constitute an interface with at least one of the lower limbs of the patient and a neuromuscular stimulation device comprising at least one pair of electrodes intended to act on the relevant muscle or muscle group of the said limb of the patient, the said orthetic device comprising at least one articulation provided with an actuating motor of the orthesis and with an angular sensor and at least one force sensor, the said sensors being coupled to a control device controlling the stimulation device, with closed-loop continuously controlled in real time retrocontrol means of said stimulation device, thereby generating a neuromuscular stimulation providing an active motion of said limbs of the patient, in a manner which is coordinated with a closed-loop continuous control system controlling said actuating motor of the orthesis in real time by means of the said angular sensor and force sensor, whereby said actuating motor of the orthesis provides counter pre-programmed resistance loads and compensates the gravity and inertial effects of the orthesis.
Specification