FIELD OF THE INVENTION

The present invention relates to a mobility aid for use by an amputee. In an exemplary form it relates to a robotic exoskeleton that can effect exercise, rehabilitation, and physical therapy movements including walking and standing.

BACKGROUND OF THE INVENTION

Mobility aids in the form of robotic exoskeletons are known for fully or partially supporting and assisting a disabled user. Examples of robotic exoskeletons are described in the applicant's earlier PCT publications, WO 2015/080596, WO 2009/082249, and WO 2011/002306, each of which is hereby incorporated by reference.

FIG.1shows a lower body robotic exoskeleton500(using reference numbers corresponding to WO 2015/080596). The exoskeleton500may be configured as a fully supportive system to assist a paraplegic user for example, or may be configured as a partially or fully supportive system to assist in the rehabilitation of a user200with limited mobility. The exoskeleton500is an electromechanical skeletal structure worn externally by the user200and is configured to support the legs and waist of the user.

The exoskeleton500comprises a pair of leg structures510,520each configured to receive and retain a respective leg of the user, a pair of feet530,540each configured to receive and retain a respective foot of the user, and a pelvic support structure550adapted to receive and retain the user's pelvis and hips. Each leg structure510,520comprises an upper leg structure511,521and a lower leg structure512,522. The upper and lower leg structures are moveably coupled relative to one another at a knee joint513,523of the leg structure. Each upper leg structure511,521is also moveably coupled to a respective side of the hip at a hip joint514,524, while each lower leg structure512,522is also moveably coupled to the respective foot530,540at an ankle joint515,525of the leg structure. In this manner, the lower body exoskeleton500is capable of effecting motion to the user's lower limbs, and to the user's upper body via the hip joints514,524.

There is an ongoing need to improve the functionality and versatility of assistive robotic exoskeletons, such as the exoskeleton shown inFIG.1. In particular, there is a need to improve the functionality of robotic exoskeletons for users that have one or more lower body amputations.

Reference to any prior art in the specification is not an acknowledgment or suggestion that this prior art forms part of the common general knowledge in any jurisdiction or that this prior art could reasonably be expected to be understood, regarded as relevant, and/or combined with other pieces of prior art by a skilled person in the art.

SUMMARY OF THE INVENTION

In an aspect, the present invention provides a mobility aid for use by a user having a lower body amputation site, the mobility aid including:a lower body exoskeleton including:a pelvic support structure;a first leg and a second leg, each of the first and second legs movably coupled to the pelvic support structure, wherein at least the first and second legs are selectively actuable to move the lower body exoskeleton relative to a surface on which the mobility aid is positioned;a carrier selectively positionable with respect to the lower body exoskeleton and, which in use, supports the user at or about an amputation site; anda harness system configured to, when in use, secure the user to the lower body exoskeleton.

Preferably, the carrier and the harness system, in combination, cooperate to position the user, when in use, at a predetermined position relative to the lower body exoskeleton.

The first and second legs are preferably pivotally coupled to the pelvic support structure at respective first and second hip joints, each of the first and second hip joints defining respective first and second hip axes about which the legs have a rotational degree of freedom. The predetermined position preferably corresponds to at least one of said hip axes such that, when in use, at least one of the user's hips if present are located at or proximate to at least one of said first and second hip axes. If the user does not have any hips due to amputation, the user is preferably located in the predetermined position such that an imaginary hip axis of the user is located at or approximate to at least one of said first and second hip axes of the lower body exoskeleton.

The carrier may be configured to support an amputation site corresponding to a remaining part of a lower limb of the user after amputation. For example, in a first embodiment, the carrier may be configured to support a remaining part of the user's femur or upper leg. In a second embodiment, the carrier may be configured to support a remaining part of the user's tibia or fibula, or lower leg. In a third embodiment, the carrier may be configured to support an amputation site corresponding to a remaining part of a user's pelvis or hips after amputation. The carrier may be configured to support more than one amputation site simultaneously.

In some embodiments, the carrier is selectively positionable with respect to the first and second legs in any one or more of a vertical and horizontal directions in the saggital plane, and/or a pivot axis normal to the saggital plane.

In each of the embodiments mentioned above, the carrier can include a mounting arrangement for releasably mounting the carrier to the lower body exoskeleton. In a first embodiment, the carrier may be releasably mounted to one of the first and second legs such that the carrier is selectively positionable with respect to the leg to which it is mounted. Each of the first and second legs preferably include respective upper and lower leg structures. The upper and/or lower leg structure to which the carrier is mounted can include a first guide adapted to receive and retain the carrier. Preferably, the carrier comprises a first carriage portion configured to interface with the first guide such that the carrier can be selectively positioned along the first guide.

The first carriage portion is preferably slidably received by the first guide and is releasably securable to the first guide at a desired position along the first guide. The first guide is preferably elongate in overall form. The first guide can include one or more rails. In the event that the first guide is associated with the upper leg structure of the first or second leg, the first guide preferably has a longitudinal axis that is parallel, or substantially parallel, to a femoral axis of the respective leg structure. Similarly, in the event that the first guide is associated with the lower leg structure of the first or second leg, the first guide preferably has a longitudinal axis that is parallel, or substantially parallel, to a tibial axis of the respective leg structure. Accordingly therefore, the carrier is selectively positionable in a vertical direction in the saggital plane. The first guide preferably includes a stop at one end, for example, a lower end, to define a limit of sliding travel of the carrier on the first guide.

The first carriage portion preferably includes a first recess that slidingly interfaces with one or more rails of the first guide such that the carrier is slidable along the first guide. In one form, the first recess may comprise a dovetail-shaped recess and the first guide may comprise a corresponding dovetail-shaped rail that slidingly interfaces with the dovetail-shaped recess. The carrier is preferably securable along the first guide at the desired position by one or more fasteners that may, for example, be received through the first carriage portion to engage the first guide.

The carrier also preferably includes a second carriage portion and a third carriage portion. The second carriage portion is preferably laterally translatable on the first carriage portion, and the second carriage portion preferably includes a second guide that slidingly receives the third carriage portion. The second guide may comprise a dovetail-shaped recess and the third carriage portion may comprise a corresponding dovetail-shaped rail that slidingly interfaces with the dovetail-shaped recess. The third carriage portion may be slidable in the dovetail-shaped recess until it is seated against a lower surface of the first carriage portion. The dovetail-shaped recess of the second carriage portion is preferably generally perpendicular to the transverse channel of the first carriage portion. Advantageously therefore, the third carriage portion is selectively positionable in a horizontal direction in the saggital plane. Ultimately therefore, the carrier is selectively positionable in at least two perpendicular axes in the saggital plane.

The third carriage portion may be pivotably movable with respect to the second carriage portion. Preferably, the third carriage portion is pivotable about a pivot axis substantially perpendicular to a longitudinal axis extending through the transverse channel of the first carriage portion and substantially perpendicular to the longitudinal axis of the first guide. Accordingly, the third carriage portion may pivot toward anterior and posterior directions about the pivot axis, which pivot axis is normal to the saggital plane. Preferably, the third carriage portion may pivot approximately 10° in both the anterior and posterior directions. As is typical in upper leg amputations, the remaining part of the leg may have a reduced range of motion or may have a generally forward resting position. Therefore, advantageously, the pivotable movement of the third carriage portion may allow for a more comfortable securement of the remaining part of the user's upper leg to the lower body exoskeleton.

The carrier can comprise a coupling to couple the carrier with a prosthetic. In an embodiment the third carriage portion can includes the coupling to couple the carrier with a prosthetic. In some embodiments, the coupling comprises a component of a Ferrier coupler. Typically this will be a male Ferrier coupler configured to mate with a female Ferrier coupler of a prosthetic. The male and female Ferrier couplers preferably include alignable through-holes such that a fastener may be received though the through-holes to releasably secure the prosthetic to the third carriage portion. Although a male and female Ferrier coupling is utilised in the present embodiment, a person skilled in the art would appreciate that other couplings, preferably of a standard type, could be used to couple the carrier and the prosthetic. In one embodiment, the prosthetic may comprise a socket. The socket may be shaped like an inverted bell. The socket preferably includes, on an inner surface thereof, a seating surface configured to support the amputation site of the user. In this embodiment, the seating surface may receive and seat a stump of the user, wherein the stump corresponds to the remaining part of a lower limb of the user after amputation.

In an alternative second embodiment, the carrier may be releasably mounted to the pelvic support structure such that the carrier is selectively positionable with respect to the pelvic support structure in a vertical direction in the saggital plane. In this embodiment, the carrier may include a platform that defines a seating surface configured to support the amputation site of the user. The platform is preferably configured to support an amputation site corresponding to a remaining part of a user's pelvis or hips after amputation.

The platform is preferably dimensioned to engage an inner wall of the pelvic support structure. In one embodiment, an outer side wall of the platform may engage the inner wall of the pelvic support structure substantially along its entire length. In an alternative embodiment, the outer side wall of the platform may only engage the inner wall of the pelvic support structure partially along its length. In either embodiment, the mounting arrangement includes one or more straps which, at a first end, are respectively received in one or more first apertures spaced apart and connected to the platform at its outer side wall. A second opposite end of each of the more or more straps are respectively received in one or more second apertures associated with an upper end of the pelvic support structure. Preferably, the one or more second apertures may be located in a combined back brace and torso support structure that is releasably connected about the upper end of the pelvic support structure. The second end of each of the more or more straps are preferably respectively secured in one or more braces associated with the combined back brace and torso support. By adjusting the length of the one or more straps between the first and second apertures, the platform is selectively positionable with respect to the pelvic support structure.

The first and second legs are preferably length adjustable to suit the user. For example, the upper and lower leg structures of each of the first and second legs may include at least two leg members that are selectively positionable with respect to each other. Accordingly, both the upper leg structure and the lower leg structure of each of the first and second legs are preferably length adjustable. Advantageously therefore, embodiments of the present invention provide a double adjustability arrangement, i.e. the first and second legs are length adjustable to suit the length of the user's legs (if present), and in addition, the position of the carrier on the exoskeleton is also adjustable to suit the amputation site of the user. In the first embodiment mentioned above, the carrier is selectively positionable with respect to the first and second legs in vertical and horizontal directions in the saggital plane, and may also pivot about a pivot axis normal to the saggital plane. In the second embodiment mentioned above, the carrier is selectively positionable with respect to the pelvic support structure in a vertical direction in the saggital plane.

The harness system of the lower body exoskeleton may include braces, tethers, strapping, a harness, or webbing to hold the user's hips snugly to the pelvic support structure. The harness system may also include adjustable straps or webbing that extend about other parts of the user's body, for example, the torso and/or at least one limb or a remaining part of at least one limb of the user. The harness system may also include an orthotics system configured to interface with and secure, if present, at least one foot of the user to the lower body exoskeleton. Advantageously, the harness system and the orthotics system provides stability to the user when the user is secured to the lower body exoskeleton.

The lower body exoskeleton may include a second carrier selectively positionable with respect to the lower body exoskeleton that supports the user at or about a second amputation site. The second carrier can include all of the features of the carrier described above.

In another aspect the present invention provides a user support arrangement for a lower body exoskeleton. The user the user support arrangement may comprise:

A guide configured to be affixed to a leg of a lower body exoskeleton;

A carrier releasably mounted to the guide and positionable with respect to the guide and lower body exoskeleton, said carried being arranged in use to support a user of the lower body exoskeleton at or about an amputation site.

Such a user support arrangement for a lower body exoskeleton can be fitted to a suitable exoskeleton to enable its use by a an amputee. The carrier and guide may include any of the features of the carrier and guide arrangements set out in relation to the first aspect of the present embodiment above.

The carrier may comprise a first carriage first carriage portion is slidably received by the guide and is releasably securable to the guide at a desired position along the guide such that the carrier can be selectively positioned along the guide. The carrier can include a second carriage portion and a third carriage portion, the second carriage portion being laterally translatable on the first carriage portion, and the third carriage portion being pivotably movable with respect to the second carriage portion. The carrier can comprise a coupling to couple the carrier with a prosthetic. For example the coupling comprises a component of a Ferrier coupler.

The lower body exoskeleton may be a lower body exoskeleton as described in the applicant's earlier PCT publications, WO 2015/080596, WO 2009/082249, and WO 2011/002306.

As used herein, except where the context requires otherwise, the term “comprise” and variations of the term, such as “comprising”, “comprises” and “comprised”, are not intended to exclude further additives, components, integers or steps.

Further aspects of the present invention and further embodiments of the aspects described in the preceding paragraphs will become apparent from the following description, given by way of example and with reference to the accompanying drawings.

