Hip and knee actuation systems for lower limb orthotic devices

摘要

A lower limb orthotic device includes a thigh link connected to a hip link through a hip joint, a hip torque generator including a hip actuator and a first mechanical transmission mechanism interposed between the thigh link and the hip link, a shank link connected to the thigh link through a knee joint, a knee torque generator including a knee actuator and a second mechanical transmission mechanism interposed between the thigh link and the shank link, and a controller, such as for a common motor and pump connected to the hip and knee torque generators, for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators can produce a non-zero torque.

主权项

1. A lower limb orthotic device adapted to be worn by a user comprising:
a thigh link adapted to couple to a user's lower limb; a hip link; a hip joint rotatably coupling the thigh link and the hip link to allow flexion and extension between the thigh link and the hip link through a range of motion; a power source; and a hip torque generator interconnected between the thigh link and the hip link, the hip torque generator including:
a hip actuator; anda mechanical transmission mechanism connected to the hip actuator, wherein the mechanical transmission mechanism includes a multi-bar linkage having at least first, second and third pivoting links, with the hip actuator and the mechanical transmission mechanism being interposed between the thigh link and the hip link; a fluid circuit fluidly connected to the hip actuator; a pump adapted to develop a flow of fluid in the fluid circuit; and an electric motor for applying torque to the pump, wherein the pump is in direct communication with the fluid circuit such that torque applied to the hip joint is regulated by controlling a torque applied to the pump through the electric motor.