System to assist walking
A technology for assisting walking and actuators, which is applied in the field of active orthoses and spinal cord injury patients, and can solve problems such as foot sensors that are not specifically mentioned.
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[0039] figure 1 Shown is a device according to an embodiment of the invention. The device includes: a pair of KAFO orthoses, used to set the knee flexion angle (α r ) Is connected to the KAFO type orthosis; a sensor is used to measure the inclination angle (θ) of the leg, and optionally the vertical acceleration a z ; The control unit (7), the sensor array (6) and the actuator (5) are connected to the control unit (7), and the control unit (7) executes an algorithm according to the sensor readings to determine how to support the stage (knee joint is The angle of the knee joint is changed during the locking and swing phases (flexion-extension). The algorithm is in image 3 Details in the.
[0040] In addition, in figure 1 An embodiment is shown in which the main elements can be seen. The support for the foot (1) can be rigid or flexible (usually called "sag foot clamp") and hold the user's foot; the rigid substructure (2) is fixed to the patient's calf; The rigid upper structure...
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