阅读说明：本技术 外骨骼的接合系统 (Coupling system for an exoskeleton ) 是由 哈利·杜安·罗莫 帕特里克·吉鲁基 海尔格·瑞·帕尔斯多蒂尔 于 2018-04-24 设计创作，主要内容包括：一种用于外骨骼中的接合系统(100),包括底部支撑件(104),绑带组件(108),以及后部支柱(102)。该后部支柱(102)具有垂直构件(110),其限定了与底部支撑件相连的下端,以及连接到第一横向构件(112)和第二横向构件(113)的上端,该第一横向构件(112)和第二横向构件(113)从垂直构件(110)沿相反的方向延伸。第一横向构件(112)和第二横向构件(113)连接到绑带组件(108)。接合系统(100)适用于接收和支撑辅助装置(117),其适用于增强使用者的能力,并减轻重复性肌肉劳损。(A coupling system (100) for use in an exoskeleton includes a bottom support (104), a strap assembly (108), and a rear strut (102). The rear pillar (102) has a vertical member (110) defining a lower end connected to the bottom support and an upper end connected to first and second cross members (112, 113), the first and second cross members (112, 113) extending in opposite directions from the vertical member (110). The first cross member (112) and the second cross member (113) are connected to the strap assembly (108). The engagement system (100) is adapted to receive and support an auxiliary device (117) adapted to enhance the user's ability and alleviate repetitive muscle strain.)

1. A joining system (100) comprising:

a bottom support (104);

a strap assembly (108); and

a rear strut (102), the rear strut (102) having a vertical member (110), the vertical member (110) defining a first end connected to the bottom support (104) at a rear side and a second end connected to first and second cross members (112, 113) extending in opposite directions from the vertical member (110), the first and second cross members (112, 113) being connected to the strap assembly (108).

2. The joint system (100) of claim 1, wherein the rear strut (102) is integrally formed, the vertical member (110) extending continuously with the first and second cross members (112, 113).

3. The joining system (100) of claim 2, wherein the rear strut (102) is formed as a unitary structure from a single material uninterrupted between the vertical member (110) and the first and second cross members (112, 113).

4. The joining system (100) according to claim 1, characterized in that said first cross member (112) and second cross member (113) have ends disposed obliquely out of plane with respect to the vertical member (110).

5. The joining system (100) according to claim 1, characterized in that said first cross member (112) and second cross member (113) are elastically extended from said vertical member (110).

6. The joint system (100) of claim 1, wherein the rear strut (102) is slidably adjustable in height relative to the base support (104).

7. The engagement system (100) of claim 6, wherein the bottom support (104) includes a panel (156) adjustably mounted to the lower portion (152) of the rear strut (102).

8. The engagement system (100) according to claim 1, wherein the first and second cross members (112, 113) are arranged and positioned relative to the rear strut (102) to be extendable over the left and right scapulae (S) of a user.

9. The joining system (100) according to claim 1, characterized in that said vertical member (110) has a wider structure at its lower portion (152) than proximate to the intermediate portions (153) of said first and second cross members (112, 113).

10. Jointing system (100) according to claim 1, characterized in that said vertical member (110) has a wider configuration, with a width (W)_VM) Is arranged and positioned to transmit loads on the user's spine in a direction transverse to said first directionThe width (W) of the member (112) and the second cross member (113)_HM) It is wide.

11. The engagement system (100) according to claim 1, wherein the posterior strut (102) has a length configured to position the first and second transverse members (112, 113) from the vertical member (110) to the spine of the scapula (S) and to form a coaxial relationship between the humeral head and the axis of rotation (120) in the coronal plane, the vertical member (110) having a length distally configured to position the bottom support (104) at or above the inferior rib margin (ICM) of the user.

12. The engagement system (100) according to claim 1, wherein the rear strut (102) defines an elongated vertical opening (162) along a middle portion (153) of the rear strut (102) that is configured to correspond to a spinal column.

13. The joining system (100) according to claim 12, characterized in that said rear pillar (102) defines a lower opening (164) in a lower portion (152) of said rear pillar (102) below said intermediate portion (153), having a shorter length than said elongated vertical opening (162).

14. The engagement system (100) according to claim 12, wherein the middle portion (153) of the posterior strut (102) is configured for deflection in a sagittal and transverse plane.

15. The joining system (100) according to claim 1, further comprising an armband (168), said armband (168) comprising at least one malleable band (170) adapted to extend only about 20% to 40% around the circumference of said armband (170), arranged to be connectable on the side of the humerus and passed medially, directed inferior to the humerus.

16. The joining system (100) of claim 1, wherein the rear pillar (102) is extendable for bending the first and second cross members (112, 113) relative to the vertical member (110) and for contouring the vertical member (110) along its length relative to an axis (a-a) of the vertical member (110).

17. The joining system (100) of claim 1, wherein said vertical member (110) is contoured relative to an axis (a-a) to have at least two angular regions (222,224) relative to said axis (a-a) along a length of said vertical member (110).

18. The joining system (100) according to claim 17, characterized in that said at least two angular regions (222,224) are positioned to conform to the body structure at the thoracic contour (T) and the lumbar contour (L).

Technical Field

The present invention relates to a coupling system for a human body in an exoskeleton, and also for supporting auxiliary devices adapted to enhance the performance of the user and to alleviate repetitive strain injuries.

Background

Wearable industrial exoskeleton technology can improve durability and safety in industrial environments. These exoskeletons can improve industrial productivity and can prevent common industrial injuries by reducing overuse of muscles and tendons. The exoskeleton can provide support and reinforcement to the user during strenuous activities (including lifting, stooping, bending, squatting, and working aloft) to reduce fatigue and work injuries to the staff. Users using such exoskeletons can easily grasp heavy hand tools, thereby improving productivity by reducing muscle fatigue.

The exoskeleton can be configured to transfer loads through the exoskeleton to the ground in a standing or kneeling position and allow the user to use heavy tools as if they were not heavy. Preferably, the exoskeleton is configured such that it can naturally move with the body and accommodate different body types and heights.

The exemplary exoskeleton is configured for use on the upper body (including shoulders and arms) and improves performance by reducing the forces on the shoulders and allowing the user to perform tasks from the chest to the ceiling with less effort over a longer period of time. The exoskeleton can help the user lift and support the user's arms and can reduce physical risks and discomfort from work done over the chest or overhead.

It has been found that lower body, torso and upper body regions can benefit from an active exoskeleton. Active exoskeletons have been reported to cause a reduction in muscle activity. Exoskeletons have the potential to significantly reduce the potential factors associated with work-related musculoskeletal injuries. Although exoskeletons may be used, some technical problems have prevented practical use of exoskeletons in the industry. Specific problems include discomfort (for passive and active exoskeletons), weight of the device, compliance with human anatomy and kinematics, and detection of human intent to achieve smooth motion (for active exoskeletons).

Existing exoskeleton devices are heavy, bulky, and difficult to adapt to the individual size of the user, resulting in poor results and discomfort. In addition, many devices use simple linear rod-like struts near the spine of the user. This also results in discomfort and poor results as the device does not conform to the particular size of the user and does not fit properly with the user's body.

These devices generally focus more on the accessory device than the engagement between the accessory device and the user's body. Thus, the effect of the aid on the body may not be optimal. By taking into account the user's body structure and the positioning and operating manner of the auxiliary device relative to the user's body, a more useful and improved exoskeleton can be obtained by providing a coupling system that is adapted to the action that the auxiliary device produces on the user's body, as well as the biomechanics of the user's body.

Disclosure of Invention

Embodiments of the present invention aim to overcome these technical problems and provide an improved joint system for a solution to an exoskeleton that can overcome existing problems and enable a wider range of industrial applications.

Embodiments of a coupling system for a person in an exoskeleton have lightweight and closely fitting components adapted to support an assistive device of the exoskeleton to enhance the user's strength and endurance when performing repetitive tasks. Embodiments of the engagement system can maintain a user in an ergonomically favorable body position, relieve upper body loads, and stabilize the rear side portions of the user. These embodiments may increase comfort, reduce injuries, and improve productivity for users in workplace applications by increasing the speed and accuracy with which the user can complete tasks.

The engagement system is adaptable to many user sizes, including by adjusting the rear length of the engagement system and the strap assembly. Since the splicing system can be provided for in-line work, workers or users of different shifts can easily adjust and comfortably secure the splicing system without regard to who the previous user of the splicing system was, provided they fall within a range of typical sizes relative to each other, since the splicing system of the present invention is adaptable for use by most people.

In an embodiment of the joint system, the rear strut is connected at the rear side to a bottom support having a belt portion connected to the front side of the user. The shoulder strap assembly is connected to the rear strut. The rear pillar has a vertical member and an opposing cross member extending from an upper end of the vertical member and generally horizontal with respect to the direction of the vertical member. The cross member is configured to extend generally over the left and right scapulae of the user.

Here, the distal base support of the strut/engagement system is located posteriorly at the level of the sacrum and anteriorly at the level of the Anterior Superior Iliac (ASIC) or lumbar. The rear struts can resist the torque applied to them by the connected auxiliary devices. In an unstable situation, this torque can cause the rear struts and the panels of the bottom support to rotate back away from the body. A cinchable waist belt is connected to the panels and joined together as a bottom support, the waist belt wrapping around the front of the body to create a reaction force against the torque exerted on the rear struts. The concept of longer rear struts, in combination with the bottom support, reduces the force applied to the front body that feels pointing to the rear, and creates lumbar support. Longer rear struts with appropriate contours may also provide lumbar support to resist lumbar flexion if the user lifts heavy objects.

The posterior support column can also be provided at a shorter height on known spinal frames. The shorter posterior struts similarly position their cross members on the scapula. The length of the vertical member may be shortened distally because the vertical member positions the bottom support at or just above the lower rib margin (ICM) of the user. The distal base support of the strut/engagement system is located at the ICM, allowing greater freedom of movement of the lumbar spine. Here, the supporting lacing tape (and the assisting torque reaction force) is at the height of the ICM. The perceived shorter force on the front of the body is greater because the lever arm of the brace is shorter, but this also frees up the range of motion of the lumbar spine if desired. In this configuration, although the user can move freely in some manner, protection of the lumbar spine is not provided by the ROM limit.

In both forms, the horizontal strut member or cross member is positioned at a height generally sufficient to position the auxiliary joint at the height of the anatomical shoulder joint or humeral head. In the longer version of the rear strut, the bottom support is located at the waist, which can transfer loads from the arm support to the lower pelvis while promoting a healthy posture. In the shorter version of the rear strut, the load from the arm support can be transferred to the lower ribs while freeing the lumbar portion to bend over, bend laterally and rotate to perform the necessary tasks with minimal restriction.

The arrangement of the rear pillars in a long form can limit the lumbar vertebrae from being excessively curved when completely worn on the user from the viewpoint or purpose of assisting in lifting the object using the assisting tool. If this longer form is used, the user is less likely to rotationally twist the spine and to over-bend the spine when raised. This has the advantage of forcing the user to use more of his legs when lifting the object, and in particular when used in combination with an aid, the risk of back injuries can be reduced and endurance can be improved.

By the arrangement of the rear struts in a shorter form, the rear struts are able to transfer the load generated by the aid to the user's lower ribs while freeing the user's waist for bending down, bending laterally and rotating so that the user performs the necessary tasks with minimal restriction, generally improving the mobility of the user relative to a longer form while still providing assistance to the aid.

Drawings

Fig. 1 shows an elevation view of a prior art spinal orthosis.

Fig. 2 shows a schematic medial side view of a posterior frame system of the spinal orthosis of fig. 1.

FIG. 3 shows a schematic view of one embodiment of a wearable engagement system.

Fig. 4 shows a schematic view of the engagement system of fig. 3 with a rear strut adjustable relative to the lower support.

Fig. 5 shows a plan view of the rear strut of the joint system of fig. 3.

Fig. 6 shows a plan view of a variation of the rear pillar of fig. 5 with a cover.

Fig. 7A shows a schematic rear view of an individual wearing a variation and assistance device of the engagement system of fig. 3.

Fig. 7B shows a schematic front view of an individual wearing the engagement system and assistive device of fig. 3.

FIG. 8A shows a schematic view of one embodiment of an arm cuff in the joint system of FIG. 3.

FIG. 8B shows a perspective view of an extensible strap that may be used in the arm cuff of FIG. 8A.

Fig. 8C shows a schematic view of a variation of the cuff of fig. 8A.

Fig. 9A shows a schematic view of a shorter version of the engagement system of fig. 3 on a backbone.

Fig. 9B shows a schematic view of a longer version of the engagement system of fig. 3 on a backbone.

Fig. 10 shows a front view of another variant of the rear strut for the joint system of fig. 3.

Fig. 11 shows a schematic perspective view of the rear pillar of fig. 10.

FIG. 12 shows a schematic view of a plurality of rear brackets of different sizes having the configuration of FIG. 10.

Fig. 13 shows a front view of a variant of the rear pillar of fig. 10 with hinged horizontal portions.

FIG. 14 shows a rear perspective view of another embodiment of the engagement system.

Fig. 15A shows a front perspective view of the embodiment of fig. 14.

Fig. 15B shows a schematic view of a variation of the chest band of fig. 15A.

Fig. 15C shows a schematic view of a variation of the chest band of fig. 15B.

Fig. 16 shows an outside perspective view of the posterior component of the engagement system of fig. 14 with the covering removed.

Fig. 17 shows an inboard perspective view of the rear assembly of the splice system of fig. 16.

Fig. 18A shows a front side elevation view of the rear strut of fig. 16 and 17.

Fig. 18B shows a side elevation view of the rear strut of fig. 18A.

Fig. 18C shows a partial plan view of the rear pillar of fig. 18A with the bottom removed.

The drawings are not to scale, but are drawn for a better understanding of the various components, and are not intended to be limiting in scope, but rather to provide an illustrative description.

Detailed Description

A. Overview

Various embodiments of the present invention may be better understood by referring to the following description in conjunction with the accompanying drawings, in which like reference numerals identify like elements.

To further ease understanding of the disclosed engagement system and modified embodiments, several terms need to be described. The term "proximal" has its ordinary meaning when used, and refers to a location that is near or near a point of attachment or start or center or is located toward the center of the body. Similarly, the term "distal" has its ordinary meaning and refers to a location that is located away from a point of attachment or starting or central point or away from the center of the body. The term "posterior" also has its ordinary meaning and refers to a location posterior or posterior to one another. Finally, the term "front" has its usual meaning and refers to a location before or to another location on the front side of one location.

These anatomical terms are associated with the user wearing the engagement system and refer to the anatomical location. Anatomical position is generally defined as the upright position of the body with the face facing forward, the arms on the side and the palm facing forward, which is the reference for describing the relationship of body parts to each other.

The terms "rigid", "flexible", "compliant" and "elastic" may distinguish the characteristics of certain features of the joint system. The term "rigid" shall mean that the elements of the joint system (e.g. the frame) generally lack flexibility. In the context of "rigid" features, it should be taken to mean that the features do not lose their overall shape when force is applied and may be damaged if bent with sufficient force. The term "flexible" shall mean that the feature is capable of repeated bending such that the feature may bend into a retained shape or the feature does not retain a general shape, but continuously deforms when a force is applied.

The term "compliant" may define such a flexible feature as generally conforming to the shape of another object when in contact with the other object by any suitable natural or applied force (e.g., gravity or a force applied by an external mechanism, such as a belt-type mechanism). The term "elastic" may define such a flexible feature as returning substantially to the original overall shape without permanent deformation. With respect to the term "semi-rigid," the term may refer to the property of a support or housing that provides support and is independent; however, such a support or housing may be flexible or resilient.

Embodiments of the present invention are adapted for use with the human body and may be sized to accommodate different types, shapes and sizes of human body sizes and contours. For illustrative purposes, the described embodiments of the joint system correspond to different parts of the human body and are described by general anatomical terms of the human body.

Embodiments of the engagement system may correspond to anterior and posterior body portions defined by an anterior-posterior plane. The anatomical terms described are not intended to detract from the conventional understanding of these terms by those of ordinary skill in the orthopedic, brace, human interface and support arts.

B. Spinal orthosis in the prior art

For purposes of understanding the engagement system of the present invention, it will be considered to be constructed based on the spinal orthosis described in us patent 9,572,705 and shown for convenience in figures 1 and 2.

In accordance with fig. 1 and 2, the spinal orthosis 10 can be used, among other functions, to increase the strength of the trunk muscles and improve the posture of an individual with a fractured vertebra.

The spinal orthosis 10 includes a lumbar mechanism 12 (as described in U.S. patent 8,172,779 and U.S. patent application publication 2016/0250061), a posterior frame system or spinal frame 14, and a strap assembly 16. The strap assembly 16 includes a strap 18 that engages the upper brace system 34 near or at a portion of the spine frame 14 at the rear shoulder and extends over the shoulder and under the armpit to orient the middle brace system 24 over the middle portion of the spine frame 14. The strap 18 is redirected by a bracket 26 carried by the central bracket system 24 to the front side of the lumbar mechanism 12 where the strap end 20 is secured to the surface of the lumbar mechanism 12.

The strap assembly 16 allows the strap 18 to be pulled down at a location (e.g., waist or abdomen) which is much easier for the elderly than pulling at the shoulders of many prior art orthoses. A user with an arthritic or less dexterous orthosis 10 can tighten the strap assembly 16 over the shoulder by simply pulling down on the strap 18 at a position approximately under the chest. Similarly, they may attach the strap end 20 to the lumbar mechanism 12 at a relatively low position that is comfortable and convenient for the user to manipulate.

The closure system of the lumbar mechanism 12 and the spine frame 14 may both be covered by suitable sleeves or coverings 22, 46 to achieve cushioning and concealment of these various features, resulting in an aesthetically pleasing and comfortable arrangement. The lumbar mechanism 12 includes a first belt segment 38A and a second belt segment 38B (generally designated by reference numeral 38) that allow the lumbar mechanism 12 to be easily worn on the waist. Suitable additional padding may be provided along the strap assembly 16 on the shoulders, or along the vertebral frame 14 and lumbar mechanism 12 to provide pressure relief to the user when the strap assembly 16 is tensioned.

The posterior frame system includes a vertebral frame 14 defining an elongated frame having a lower portion 15, a middle portion 17, and an upper portion 19, the lower portion 15 corresponding to and extending from a lower portion of a lumbar plate or support 32 (e.g., a flexible or semi-rigid plate or frame), the middle portion 17 positioned above the lumbar support 32 and carrying a brace system 24, and the upper portion 19 carrying an upper brace system 34. The vertebral frame 14 defines a plurality of openings 21 along its length and is secured to the lumbar support member 32 by a plurality of fasteners 23. The spinal frame 14 may have a profile as shown in fig. 2, wherein the lower portion 15 flares outwardly and the spinal frame 14 narrows in width as it approaches the upper portion 19 to better anatomically conform to the user's anatomy.

The spine frame 14 is constructed of malleable aluminum that is shaped by the practitioner according to the individual anatomy of the user. The lumbar plate 32 of the lumbar mechanism 12 may be formed of a plastic that is flexible relative to the spine frame 14. The lateral side of the lumbar plate 32 may be curved relative to the spinal frame 14. While the spine frame 14 may be shaped to the anatomy of the individual, it provides additional rigidity to ensure that the user's back may be stretched. The spine frame 14 may be formed by injection molding a plastic covering over the metal struts.

C. Embodiments of the joining System

Fig. 3 shows one embodiment of the engagement system 100, the engagement system 100 having a rear brace 102 connected to a bottom support 104, the bottom support 104 having a strap portion 106 attached to the front side of a user. The bottom support 104 may be modified from the lumbar mechanism 12 to accommodate the rear struts 102 and provide more features and advantages than known lumbar mechanisms 12. The shoulder strap assembly 108 is connected to the rear post 102 and the bottom support 104.

The rear pillar 102 has a vertical member110 and opposing horizontal leg portions or cross members 112, 113 extending from the upper end of the vertical member 110 and arranged vertically, horizontally or transversely with respect to the orientation of the vertical member 110. The cross members 112, 113 are arranged to extend generally over the left and right scapulae S of the user. The vertical member 110 has a widened configuration with a width W_VMA width W of the cross members 112, 113 arranged to transmit loads on the spine of a user and extending away from the vertical member 110 in an opposite direction_HMThis is much larger, as shown in more detail in FIGS. 9A and 9B.

A particular difference from the prior art spinal orthosis 10 is that the posterior strut 102 of the joint system 100 replaces the spinal frame 14 of the spinal orthosis 10. The rear posts 102 are disposed at a shorter height on the spine frame 14. As shown in fig. 9A, the rear stanchion 102 is shortened such that its cross members 112, 113 are positioned to extend out from the vertical member 110 at the spine of the scapula S. The height of the vertical member 110 is set to enable a concentric relationship between the humeral head and the axis of rotation 120 in the coronal plane in fig. 7A. The length of the vertical member 110 is likewise shortened distally because in the shorter version of the engagement system, the vertical member 110 positions the bottom support 104 at or just above the ICM of the user.

Fig. 9A and 9B show how the shorter and longer forms of the engagement system are provided. In both forms, the horizontal strut portion is located approximately at the level of the shoulder joint that positions the auxiliary joint anatomically. In the longer version (fig. 9B), the bottom support is located at the waist, which can transfer loads from the arm support to the lower pelvis while promoting a healthy posture. The shorter version (fig. 9A) transfers the load from the arm support to the lower ribs, while freeing the lumbar portion to bend down, bend sideways and rotate to perform the necessary tasks with minimal constraint.

The provision of the rear support 102 in the longer version of figure 9B limits excessive lumbar flexion when fully worn on the user from the point of view or purpose of using the aid to lift objects in addition. If the longer version of fig. 9B is used, the user is less likely to have rotational twisting of the spine and is less likely to over-bend the spine during lifting. This is advantageous in forcing the user to use more of his legs when lifting objects, which reduces the risk of back injuries, especially when used in combination with an aid.

According to the arrangement in fig. 9B, the distal base support of the strut/engagement system is located posteriorly at the level of the sacrum and anteriorly at the level of the ASIC. The struts may resist torque applied thereto by the attached auxiliary device. This torque, as shown by force F1 and torque T1, can cause the rear posts and plate to rotate rearwardly away from the body in the event of instability. A cinchable waist strap is attached to the panel, which wraps around the front of the body, creating a reaction force against the torque on the rear strut from force F3. A longer rear brace can reduce the feeling rearward force F3 on the front body. The longer profile struts also provide lumbar support, preventing the lumbar from bending if the user lifts an object.

By the provision of the rear stays 102 in the shorter version of fig. 9A, the rear stays 102 can transmit the load generated by the shoulder assist device 117 in fig. 7A and 7B to the user's Lower Ribs (LR) while allowing the user's waist (W) to freely bend down, bend laterally and rotate, thereby enabling the user to perform necessary tasks with minimal restraint. This arrangement generally increases mobility for the user compared to the longer version of fig. 9B, while still providing shoulder flexion assistance.

In this embodiment, the posterior strut 102 may also be provided at a shorter height on known spinal frames. The posterior strut 102 may also position its cross members 112, 113 on the scapula. The length of the vertical member 110 may be shortened distally because the vertical member 110 positions the bottom support at or just above the ICM of the user. The distal base support of the strut/engagement system 100 is located at the ICM, allowing greater freedom of movement of the lumbar spine. Here, the sole support (and the assisting torque reaction force) is at the level of the ICM. The perceived shorter force of force F2 on the anterior body, as opposed to force F1 and moment T1, is greater due to the shorter lever arm of the posterior strut 102, but this can also release the range of motion of the lumbar spine if desired, as this combination of features may be advantageous for certain applications, such as when no re-lift is expected but rotational motion must be accommodated. In this configuration, although some motion is more free, no protection is provided to the lumbar spine by ROM restraint.

Returning to fig. 3, the bottom support 104 preferably has a narrower height than the lumbar mechanism 14 in the spinal brace 10. The narrower height may be defined by the height of the strap portion 106. The overall height of the bottom support 104 in combination with the posterior struts 102 is less than that of the spinal orthosis 10. This smaller height enables loads to be transferred to the user's ribs while leaving the breast and pectoral muscle regions free to increase the user's mobility during normal tasks.

The shoulder strap assembly 108 includes a shoulder strap having a first portion 116 extending over the shoulder and a second portion 118 for connection to the bottom support 104, as in the spinal brace 10. However, due to the connection of the shoulder assist device 117 as shown in fig. 7A, the first portion 116 of the strap assembly 108 follows a different path around the user's shoulders as compared to the spinal brace 10.

Figure 3 shows schematically how the rear strut 102 has a central portion 114 between the cross members 112, 113, where the brackets 144 of the first portion 116 of the shoulder strap assembly 108 are secured at the central portion 114. The central portion 114 defines a plurality of openings 148, any one of which may be secured by one of the brackets 144. The openings 148 extend in rows in both the horizontal and vertical directions to enable the harness assembly 108 to be easily and conveniently customized for different user sizes. The second portion 118 of the strap assembly 108 has a bracket that is secured to the bottom support 104.

A suitable cushion 150 may line at least the inward facing portion of the rear pillars 102 that is directly adjacent to and faces the user's body to enhance comfort, breathability, and user compliance. The pad 150 may be overmolded onto the rear pillar 102 or may include removable elements to facilitate cleaning, replacement, or customization of the pad 150.

Referring to fig. 3 and 4, the rear support post 102 defines a lower portion 152, the lower portion 152 being connected to a panel 156 of the bottom support 104. Fig. 3 depicts how lower portion 152 has a wider width compared to the width of middle portion 153 directly above lower portion 152 to reduce the area of posterior strut 102 that overlies the user's spine and to reduce the weight of engagement system 100. The lower portion 152 may be wider than the middle portion 153, for example, in a ratio of 7: 8.

The rear posts 102 are slidably adjustable in height relative to the base support 104. The panels define a plurality of apertures 154 that align with vertical side slots 159 of the lower portion 152 of the rear pillar 102. Fasteners 157 may be secured at any of the holes 154 depending on the height setting of the rear posts 102 to engage and secure the lower portion 152 at the vertical side slots 159. The panels define first and second wings 160, 161 that extend generally laterally from the lower portion 152 to provide additional support to the bottom support 104 and for distributing the pressure and anchoring of the engagement system 100 around the user's waist or lower back. This arrangement distributes pressure on the user, particularly in a shortened configuration, improving comfort and user compliance.

The rear posts 102 may be connected to the bottom support 104 by having a plurality of channels or slots whereby a button or similar adjustment mechanism allows for convenient and intuitive vertical adjustment of the rear posts 102.

Fig. 5 and 6 are detailed views of the rear strut 102 of fig. 3, with some of the features discussed above. The rear pillars 102 are arranged in a thin and breathable manner to provide less coverage and less weight on the user's body. The rear stanchion 102 defines an elongated vertical opening 162 generally corresponding to the spine of the user and allows for the profile shown in the embodiment of fig. 10 and 11. The rear struts 102 define a lower opening 164, which lower opening 164 may create a stiffened region for the profile of the rear struts 102 relative to the middle portion 153. Preferably, the lower portion 152 extends to the waist.

The mid-portion 153 of the posterior strut 102 allows for deflection in the sagittal plane to increase "spring force" and to allow for some degree of transverse plane torsion, both of which provide functional comfort in many activities. The rear pillars 102 may be overmolded with a material that is strong but softer than the material forming the rear pillars 102, thereby providing enhanced comfort to the user. According to such an embodiment of the posterior strut 102, the baseline strength of the posterior strut 102 can provide sufficient stiffness, but allows yielding in both the sagittal and transverse planes when loaded with the bilateral shoulder assist device. The size of the rear pillars 102 in combination with the material properties may minimize size and weight while providing a certain desired degree of deformation and stiffness.

Fig. 7A and 7B schematically illustrate an industrial exoskeleton or shoulder assist device 117 on the coupling system 100. The auxiliary device 117 has a support frame 119 connected to the respective free ends 115A, 115B of the cross members 112, 113 by means of horizontal slots or connecting elements, or the support frame 119 defined by the cross members 112, 113. Since the width and height of the user's shoulders will vary on an individual basis, the supplemental device 117 can translate within the horizontal slot to enable the connection of the supplemental device 117 to be positioned proximate the user's humeral head between the support frame 119 and the transverse mechanisms 112, 113.

The support frame 119 may include a hinge mechanism 120 for the auxiliary device 117 and a connector 122 for connecting with the first portion 116 of the strap assembly 108. The link 122 may extend vertically along the user's upper back and over the shoulders to the front. As shown in fig. 3, the connection 122 may comprise a rigid or semi-rigid frame, or may be formed as an extension of the first portion 116 that may be secured directly to the support frame 119. An assist mechanism 124 is supported by the link 122 for providing mechanized assistance in shoulder lifting/flexion and may include a drive mechanism for providing humeral flexion assistance.

As shown in fig. 7A and 7B, the engagement system 100 may have a cuff 168 for supporting the connector 122 on the arm of the user and a sternum strap 166 for better positioning the auxiliary device 117 on the user's body.

Fig. 8A-8C schematically illustrate an embodiment of an arm cuff 168. Since the assistance device 117 can provide humeral flexion assistance, the assistance mechanism 124 can be connected to an arm cuff 168, the arm cuff 168 being generally attached to the humerus. These arm sleeves 168 are adjustable to accommodate a substantial range of sizes of the user's arms, as well as to accommodate variations in girth for a potential user, and to adjust as the user's arms change size during retraction.

Fig. 8A shows a cross-sectional view of an exemplary arm cuff 168. The arm cuff 168 includes a closure strap or band 170 having elastic properties to accommodate changes in arm circumference due to contraction. The closure strap 170 extends and hangs over the gap 171 formed by the arm cuff 168. Closure strap 170 is permanently secured to arm cover 168 on a first side of gap 171 and is removably secured at a second end of the arm cover to a fastener (e.g., hook-and-loop fastener 176) disposed on an outer layer 182 of arm cover 168. The gap 171 allows for accommodating the user's arm circumference changes by receiving the increased volume of the arm in the gap, while still holding the assistive device 117 securely on the user's body by the elastic closure strap 170 remaining engaged with the arm.

The arm cuff 168 has an inner layer formed by a layer 172 surrounding a liner 174 that is adapted to be adjacent and surround the user's humerus. The pad 174 may be a foam layer that extends and lines the entire cuff 168 except for the gap 171. Beyond the pad 174 is a reinforcing layer 178 of semi-rigid plastic that can flex about the user's arm while the closure strap 170 is secured about the user's arm, but remains rigid. Reinforcement layer 178 can maintain the shape of the cuff while reducing the pressure felt at the end of closure strap 170.

The extensible band 180 is adjacent to the reinforcing layer 178 and preferably extends only along about 20% to 40% of the circumference of the armband 168. The extensible strap 180 is secured to the assist mechanism 124 and preferably wraps around the back of the user's arm, particularly when it is desired for the assist device 117 to suspend the arm in an upright position, because the cuff 168 provides optimal support for the user. The malleable band 180 is preferably attached at the side of the humerus and passed medially under the humerus. The extent to which the malleable band 180 extends around the cuff 168 provides sufficient support behind the humerus while allowing the cuff 168 to flex comfortably against the chest wall of the user.

As shown in fig. 8B, the malleable band 180 has at least one attachment point 184, which may be defined by an aperture, for securing with the assist mechanism 124. The malleable band 180 may be modified by the user or clinician based on the predetermined contour 186 to accommodate the shape of the individual user's arm.

Fig. 8C schematically illustrates how the arm cuff 168 defines a channel 188 formed by the outer layer 182 of the arm cuff 168. The channel 188 extends less than the length of the reinforcement layer 178 around the arm cuff 168. The channel 188 is adapted to removably receive the extendable belt 180, wherein the at least one fixation point 184 may extend beyond the cuff 168 for attachment with the assist mechanism 124. An opening may be formed by the outer layer 182 to allow the secondary mechanism 124 to engage the extensible belt 180. The channel 188 reduces shearing and sliding of the extensible belt 180 of the arm cuff 168 and allows for removal of the extensible belt 180 for cleaning and/or adjustment.

As discussed above, at least a portion of the extensible band 180 is preferably exposed through the outer layer 182 to facilitate installation of the auxiliary device 124, as shown in FIG. 8C, particularly at the location of the at least one fixation point 184. As shown in fig. 8A, the outer layer 182 may conceal the extensible band 180.

Referring to another embodiment of the joint system shown in fig. 10 and 11, the exemplary rear pillar 202 is preferably monolithic such that the rear pillar 202 is continuously formed and integrally formed with the cross members 212, 213. As with the previous embodiments, the rear struts 202 may be formed substantially in a T-shape, wherein the width W of the cross members 212, 213_HMIs smaller than the width W of the vertical member 210_VM. The term "monolithic" is to be understood according to the invention as a single, one-piece structure, for example a molded part of metal or injection-molded plastic. The plastic may be reinforced with a material such as glass fibre, for exampleAnd glass filled nylon.

"monolithic" may also be a combination of injection molded plastic on a sufficiently hard but malleable metal core that includes one or more metal frame members. The strut 202 may also be an injection molded component made entirely of plastic with sufficient rigidity and strength to withstand the specified loads of the two cross members 212, 213.

The vertical member 210 may be in the width W_VMIs provided as a substantially or completely flat structure. In contrast to a flat structure, the vertical member 210 may have a cross-width W_VMTo accommodate the spine of the user. Similarly, the cross members 212, 213 may be at a width W_HMHaving a substantially or completely flat configuration.

One exemplary material is 7075 aluminum alloy, but other structural materials are clearly possible, including fiber reinforced resins, metal alloys, and combinations thereof, which are strong enough to support the shoulder assistance mechanism while providing a sense of resilience on the shoulders of the user. The elastic feel may soften the user's experience when wearing the shoulder support engagement system with the shoulder assistance mechanism. The feeling of elasticity is generated by the elasticity of the rear pillar 202, and is partially used for suspension of the shoulder assist mechanism.

The free ends 215, 217 of the cross members 212, 213 may be disposed at an angle 220 out of the plane of the vertical member 210. According to the definition of "out-of-plane," the free ends 215, 217 extend outwardly relative to the vertical member 210, which appears to be flat and in a plane, and the cross members 212, 213 extend perpendicularly from the vertical member 210, particularly when viewed in plan.

This angle 220 allows the cross members 212, 213 to have a greater spring force relative to the vertical member 210. The angle 220 may be modified and selected according to the individual user, particularly by hinging the angle 220 from a transition line where the individual cross members 212, 213 are joined or continuously fused to the vertical member 210. The material used to form the rear posts 202 may be selected to be extensible in the sense that the angle of the cross members 212, 213 may be selected and modified, however in use, the cross members 212, 213 do not lose a fixed angle 220 when loaded and have sufficient resilience to return to the angle 220 when the load is released.

The cross members 212, 213 may also be disposed at an angle in the plane of curvature of the vertical member 210, wherein the cross members 212, 213 are disposed in the plane of the vertical member 210 that is assumed to be flat relative to the vertical axis a-a of the vertical member 210. The cross members 212, 213 may be disposed out of the plane of the vertical member 210 and at an angle relative to the plane. The cross members 212, 213 may advantageously provide additional elasticity and comfort, while also being more precisely contoured to the size of the user along the contour of the scapula and chest and waist.

The vertical member 210 may define a plurality of relief openings 220 for providing relief on the user's spine, further creating a relatively lightweight and ventilated structure. The relief opening 220 is preferably disposed along the axis a-a.

The cross members 212, 213 define an elongated horizontal slot 226 substantially perpendicular to the axis a-a to support the auxiliary device. As described above, the vertical slots 218 are located in the lower portion of the rear posts 202 and are provided for fixing and adjusting the height of the bottom support. The horizontal slot 226 may be replaced by a solid material, in the position of which a connecting element may be connected to the cross members 212, 213 for connecting auxiliary devices. Regardless of the particular size of the user, the vertical slots 218 and horizontal slots 226 allow the supplemental device 117 to be positioned over the user's humeral head and facilitate convenient and intuitive adjustment.

Fig. 11 shows how the vertical member 210 is contoured relative to the axis a-a to accommodate the posterior support column 202 to the individual's spine. Vertical member 210 may have different angular regions 222,224 relative to axis a-a along the length of vertical member 210. Along the length a-a, the pre-formed contour is positioned to conform to the body structure of the user's chest contour (T) or waist contour (L). The vertical profile at the intersection of the vertical and horizontal members can form a structural profile approximating that of the scapula. The resulting shape not only supports the back but also provides a low profile for the entire brace. In a work or other environment, it is preferable to use a minimal profile to reduce the likelihood of accidental impact or jamming of surrounding objects.

Fig. 12 schematically shows how a plurality of differently sized rear pillars 202A, 202B, 202C can be provided according to the size of the user, and may comprise differently configured apertures for custom fitting, comfort, strength, resilience, weight, etc.

Fig. 13 shows another embodiment of the rear strut 230, the rear strut 230 including cross members 234, 236 hinged relative to the vertical member 232. In contrast to the monolithic strut concept of the previous embodiment, which remains rigid in all three planes of motion, in this embodiment the cross members 234, 236 are rotatable within the coronal plane. The cross members 234, 236 are rotatable relative to the vertical member 232 at a rotation point 238. The vertical member 232 may include a base portion 240 for reinforcing the cross members 234, 236. In this embodiment, the rear struts 230 are not integrally formed of a unitary, one-piece construction as shown in the embodiment of FIG. 6.

This swivel articulation allows the post to follow the general anatomical rotation and sliding motion of the scapula over the chest as the scapula is raised or lowered during an aerial work task. While accommodating these relative coronal motions, the engagement system continues to provide resistance to sagittal plane torque transmitted by the auxiliary element to the transverse members 234, 236 of the posterior strut 230. In this embodiment, the ROM is relatively free in the coronal plane, while motion in the transverse and sagittal planes is limited. In such a hinge structure, the end of the range of motion may preferably be limited to limit the motion to no more than the desired end. By allowing or limiting ROM in each plane of motion, the posterior strut 230 can resist torque in the sagittal, coronal, and transverse planes, respectively, while also allowing motion in critical directions.

Fig. 14 shows another embodiment of a binding system 300, the binding system 300 having an ergonomically shaped rear stanchion 302. As in the previous embodiment, a bottom support 304 is connected to the rear posts 302 and has a strap portion 306. As in other embodiments, shoulder strap assembly 308 is similarly secured to engagement system 300 and may be secured by cross members 312, 313 back to rear strut 302. At least the rear strut 302 is lined with padding 333 and may be covered with fabric, a coating, or other material. The rear component 336 of the bottom support 304 is concealed by the cover.

Fig. 14, 16 and 17 show the bottom 320 of the rear strut 302 secured to the bottom support 304, as in any of the previous embodiments. The rear strut 302 has a lower portion 309 that diverges from the base 320, the lower portion 309 having a first section 310 and a second section 311 that extend or flare from the base 320 to distribute pressure on the lower back of the user. The bottom 320 may be wider than the portion of the rear strut 302 between the upper portions 314 where the first and second sections 310, 311 return together at the joint 315, particularly because the bottom 320 is to be secured to the bottom support 304.

In the embodiment shown in fig. 14, lower portion 309 generally forms an oval shape with base 320 and bridge 322, and first section 310 and second section 311. Lower portion 309 defines a first opening 317 and has a tapered portion 319 in its area proximate base 320 to provide greater strength to base 320 and to accommodate strap attachment portions 323, 324 for receiving a strap of strap assembly 308 about lower portion 309. The lower portion 314 above the opening 317 may form a second opening 321 that gradually narrows toward the junction 315. Between the first opening 317 and the second opening 321, the bridge 322 provides stability to the rear strut 302, while the first section 310 and the second section 311 with the first opening 317 and the second opening 321 avoid contact with the user's spine, thereby distributing pressure on the paraspinal musculature of the user's back rather than on the sensitive spinous processes of the midline.

The large oval openings 317 also provide enhanced air circulation around the support struts near the lumbar and thoracic vertebrae. Second strap connecting portions 323, 324 may be disposed along the arcuate contour of first section 310 and second section 311, particularly when they form an oval shape at lower portion 309. The second strap connecting portions 323, 324 can be of a larger size relative to the second portion 318 of the strap assembly 308 to, in part, facilitate changing sizes, or to accommodate different sizes and contours of users.

The first segment 310 and the second segment 311 are proximate to each other at an upper portion 314 and meet at a junction 315 below the cross members 312, 313 and the laterally central portion 325. A central indentation 331 may be provided above the transverse central portion 325 to provide better clearance under the user's neck to free up this area while providing rigidity at the transverse central portion 325 below the central indentation 331.

The cross members 312, 313 may be provided with projections on opposite sides of the central recess 331 and include first strap attachment portions 326, 327 so that the first portion 316 of the strap assembly 308 is secured to the rear side of the engagement system 300. The cross members 312, 313 may be tapered at their free ends opposite the transverse central portion 325 to reduce coverage on the user's scapula. The second portion 318 may be secured to the first section 310 and the second section 311 along the lower portion 309 of the rear strut 302.

As with the previous embodiment, the cross members 312, 313 may define a plurality of openings 329 for selectively and individually attaching auxiliary devices, as shown in the previous embodiment. The plurality of openings 329 may generally be aligned along the length of the cross members 312, 313, although other arrangements may be provided depending on the configuration of the auxiliary device.

Referring to fig. 15A, the front side of the engagement system 300 may be fitted with an adjustable chest strap 332, the chest strap 332 having a buckle 334 for securing and adjusting the length of the chest strap 332. The chest strap 332 has an adjustment feature 328 that allows the chest strap 332 to slide up and down along the slide 330 on the first portion 316 of the strap assembly 308 to accommodate different user heights. The chest strap 332 may be retained relative to the first portion 316 while the chest strap 332 is tensioned and retained by the buckle 334.

Fig. 15B schematically illustrates a variation of the chest band 380. The chest strap 380 defines a padded portion 383 along a strap portion 384 of a strap 382 of a strap assembly (as shown in other embodiments). The strap portion 384 may be secured to the padded portion 383 with the metal connector 385 attached to the strap 382 under the padded portion 383. A buckle 388 connects the two ends 386, 387 of the chest strap 380, the ends 386, 387 being slidably mounted along the strap portion 384 by a slide 390. A fastener 388 (e.g., a rivet) may reinforce the padded portion 383 in the strap assembly 380. Various positions 389 may be provided along such portion that can serve as resting points for the slider 390.

Fig. 15C schematically shows an embodiment in which the strap portion 384 comprises a plurality of discrete individual portions 394, 395, 396, whereas in the embodiment of fig. 15B, these portions are continuous. As shown in fig. 15C, the joints 397, 398 between the portions 394, 395, 396 serve as resting points for the respective slides between the respective portions 394, 395, 396.

Fig. 16 and 17 illustrate the rear assembly 336 of the engagement system 300 with the cover removed and show the connection of the rear stanchion 302 to the rear assembly 336 of the bottom support 304. The posterior component 336 includes a main member 338 having a first wing 348 and a second wing 350 that are rotatable relative to a central member 356 along elongate rotational connections 352, 354. The pulley panels 342, 344 are slidably secured to the wings 348, 350 and may operate similarly to the lumbar device disclosed in U.S. patent 8,172,779.

Fig. 17 particularly shows how the pulley panels 342, 344 have a slider 370 that can engage the elongated, generally laterally directed slots 368 formed by the wings 348, 350, as described in U.S. patent 8,172,779. However, because the aft assembly 336 preferably remains substantially rigid at the center piece 356 to securely hold the aft stanchion 302, the wings 348, 350 may be provided with a protruding ramp 365 on the outboard side, preferably becoming abrupt toward the center piece 356, gradually becoming flat toward the free ends of the wings 348, 350. Ramp 365 allows the pulley panel to work smoothly as it slides relative to wings 348, 350 and transitions relative to elongated rotational connections 352, 354.

The shape of the ramp provides rigidity for the transition from the central portion of the panels forming the substantially rigid sleeve 355 to the more flexible wings 348 and 350. The inner sides of the wings 348, 350 have grooves 366 corresponding to the ramps 365, and a slider 370 is disposed within the groove 366 so that the slider does not catch on any of its coverings or a portion thereof or otherwise become uncomfortable to the user during operation. The height of ramp 365 provides a smooth transition as ramp 365 moves over wings 348, 350 and allows the load to spread or transition outward and relieve stress points on wings 348, 350 to ensure easy tensioning of bottom support 304.

Depending on the tension of the bottom support 304, the wings 348, 350 are configured to rotate about the user's waist and to accommodate different waist sizes of users. The wing portions 348, 350 may be rigid or may exhibit flexibility to conform to the waist size of the user. The apertures 372 formed by the wings 348, 350 may provide ventilation and reduce the weight of the device, and may be arranged independently or in a pattern to facilitate the bending of the wings 348, 350 about the waist of the user.

In the embodiment shown in fig. 16 and 17, the apertures 372 are anatomically aligned to fan outwardly from the intermediate member 356 to better conform to one or more of the shape of the user's waist. While the wings 348, 350 may conform to the waist of the user, the wings 348, 350, together with the intermediate piece 356, serve as a secure foundation when the bottom support 304 is secured to the user to securely secure the rear support 302 and ancillary devices to the user when in use.

The panels 346 are secured along their inner sides to the intermediate members 356 to form a rigid or substantially rigid sleeve 355 for receiving the bottom support member 304 of the rear strut 302. The locking member 340 is secured to the intermediate member 356 and may include a knob that is spring biased into a hole 341 formed by the intermediate member 356. At the bottom 320, which is located within the sleeve 355, the locking member 340 engages at least one of the corresponding openings formed by the rear posts 302, thereby enabling convenient and intuitive adjustment of the height of the rear posts 302 relative to the bottom support 304.

Together, panel 346 and rear assembly 336 form a panel, as shown in fig. 4. This panel forms the basis for the strap member of the bottom support 304, as shown in fig. 14, which can generate a reaction force against the rear strut 302, as shown in fig. 9A and 9B. The strap member can prevent the rear struts from being pulled distally or pried away from the body. When the weight of the arm pushes against the auxiliary device and is directed to the rear strut 302, the bottom support 304 can hold the rear strut 302 against the user's body to distribute and transfer the forces thereon.

The sleeve 355 may be vented through openings 358, 362 in the intermediate piece 356 and the plate 346. The intermediate piece 356 and the plate 346 may include reinforcing elements 360, 364 that provide rigidity to the sleeve 355 despite the openings 358, 362. Plate 346 may be removably secured to intermediate member 356 by a coupling 374. The inner edge of the sleeve 355 is tapered 374 to reduce the edge pressure felt by the user on the sacral region.

Fig. 18A-18C schematically illustrate the rear strut 302, and how various portions thereof may be angled to better conform to the anatomy of a user or the anatomy of a typical user, particularly when initially in an anatomical position. The posterior strut 302 may be pre-configured with an angled relationship between features to accommodate anatomical locations. Although the rear stanchion 302 may be rigid, it may also be resilient or elastic to accommodate movement or impact of the user and the auxiliary device while securely stabilizing the auxiliary device on the user.

The bottom portion 320 abuts the upper portion 314 at boundary 371. The bottom portion 320 is associated with the upper portion 314 while remaining parallel along the vertical plane J because the upper portion 314 extends outwardly relative to the vertical plane at an exemplary angle of approximately 10 degrees. The upper portion 314 may extend substantially straight to a boundary 373 at the central portion 325, which boundary 373 may likewise extend parallel to the vertical plane J. The cross members 312, 313 may extend inwardly from a horizontal plane K in which the central portion 325 lies at an angle (e.g., about 10 degrees) defined at transition lines 375, 377. These angles are not limiting, and when in an anatomical position, particularly when the rear struts are extendable to position a portion of the rear struts 302, the rear struts can be preconfigured at a number of angles suitable for an individual user, but still have sufficient rigidity in use to withstand permanent deformation relative to such a position in use.

By providing a coupling system as described herein, the problems of heaviness, discomfort and poor alignment with the user's anatomy of the exoskeleton device can be solved by providing an improved coupling system with improved adaptability to the user's size and enhanced comfort. This is achieved by: improved fit and positioning of the strap members, ductility of the vertical struts, and an adjustment mechanism to place the rotation shaft at the humeral head can improve comfort without sacrificing torque resistance.

Although the shoulder assist mechanism is described only briefly, it is not limited to the illustrated embodiment, and the engagement system may be adapted to different shoulder assist mechanisms.