Resumen
Exoskeleton for assistance to the human movement. The present invention relates to an exoskeleton for assistance to human movement adjustable to the user in dimensions, tensions and joint ranges, this adjustment can be manual or automatic, where its placement in the user can be in the anterioposterior direction in the sagittal plane, being able placed from lying or sitting without the need for functional transfer, where the exoskeleton presents a modular design, compatible with human biomechanics and that reproduces a natural and physiological movement in the user, with up to 7 degrees of mobility actuated and controlled by limb, guaranteeing the stability of the user's balance during locomotion. (Machine-translation by Google Translate, not legally binding)
Reivindicaciones
1. An exoskeleton for assisting human movement that comprises a mechanical structure comprising segments joined by joints that enable the relative movement between two or more successive segments for moving the limbs (10) of the user lending them a natural gait and a fastening system (2) that allows it to carry out its coupling to the human body characterized in that the fastening system (2) comprises a rigid lumbar reinforcement (20) that in turn comprises two or more segments that can be coupled (21), two of which are joined to the segments of the exoskeleton by means of at least one rotation shaft (22), wherein the lumbar reinforcement is retractable by means of successive rotations until it is located in the sagittal plane. 2. The exoskeleton for assisting human movement according to claim 1 characterized in that it comprises at least 6 degrees of movement in each lower limb, which are actuated, these degrees of movement being the following: - Flexion and extension of the hip (31) by means of rotation in the sagittal plane; - Abduction-adduction of the hip (32) by means of rotation in the lateral plane, - Rotation of the hip (33) by means of rotation in the transverse plane; - Flexion and extension of the knee (34) by means of rotation in the sagittal plane; - Flexion and extension of the ankle (35) by means of rotation in the sagittal plane; - Eversion and inversion of the ankle (36) by means of rotation in the lateral plane; each actuated by means of an actuator (41, 42, 43, 44, 45, 46) respectively. 3. The exoskeleton for assisting human movement according to claim 2 characterized in that the mechanical structure comprises a shaft (120) that is eccentric with respect to the crossing of an upper segment (121) and a lower segment (122) of the knee joint, eccentric shaft (120) actuated by the corresponding actuator (44), which define the degree of movement of flexion and extension of the knee (34) by means of rotation in the sagittal plane. 4. The exoskeleton for assisting human movement according to claim 2 characterized in that the mechanical structure comprises a bar mechanism (47) that receives the movement of the corresponding actuator (45) that is separate from the ankle of the user wherein the bar mechanism (47) transmits the movement to the ankle, and an elastic element (48) that exerts traction on the bars of the bar mechanism (47). 5. The exoskeleton for assisting human movement according to claim 1 characterized in that the mechanical structure comprises a condylar fitting mechanism (18) for passively fitting the condylar angle formed between the femur and tibia. 6. The exoskeleton for assisting human movement according to claim 5 characterized in that the condylar fitting mechanism (18) comprises a proximal segment (150) adjacent to a knee joint (105) and a distal segment (151) further away from the knee joint (105), wherein the proximal segment (150) is shorter and is introduced into the distal segment (151), and wherein both segments (150, 151) are joined by means of a pin (152) arranged in perpendicular direction to the tibia of the user and in the advance direction. 7. The exoskeleton for assisting human movement according to claim 6 characterized in that the condylar fitting mechanism (18) comprises a threaded mechanism arranged in the lower end of the distal segment (151) to carry out the regulation of the condylar angle. 8. The exoskeleton for assisting human movement according to claim 5 characterized in that the condylar fitting mechanism (18) comprises a four-bar mechanism (110) arranged under the knee joint (105). 9. The exoskeleton for assisting human movement according to claim 1 characterized in that the fastening system (2) further comprises an ischiatic support (25), preferably an adjustable and removable girth, wherein the tension thereof is adjusted through a manual or automatic tensioning mechanism (26). 10. The exoskeleton for assisting human movement according to claim 1 characterized in that the fastening system (2) further comprises fastening devices that are not rigid in the back portion of the exoskeleton, preferably braces, for fastening the exoskeleton to the lower limbs of the user, fastening devices that are arranged in the back portion of the exoskeleton. 11. The exoskeleton for assisting human movement according to claim 1 characterized in that the fastening system (2) further comprises a device for permanently or detachably anchoring (28) to the shoe of the user. 12. The exoskeleton for assisting human movement according to any of the preceding claims characterized in that it comprises an on board power system (13) that provides energy to an actuation system made up of the actuators (41, 42, 43, 44, 45, 46) comprising the mechanical structure and a computer system (14). 13. The exoskeleton for assisting human movement according to claim 12 characterized in that it further comprises an on board sensory system (3) that monitors the movement of the exoskeleton and comprises at least one of the following subsystems: a. a proprioceptive subsystem (4), that instantly determines the state of the robot, b. a physiological subsystem (5), which determines the state of the user by means of biomarkers, c. an exteroceptive subsystem (6), which determines the state of the surroundings instantly or over a period of time, d. a perceptive subsystem (7) for the exoskeleton-user-surroundings interaction, which determines the state of the mutual interaction between the three previous subsystems (4, 5, 6), 14. The exoskeleton for assisting human movement according to claim 13 characterized in that it further comprises a movement control system (12) that receives the information from the on board sensory system (3), and which comprises one or more of the following systems: a. a joint control system (8), b. a limb control system (10), c. a control system of the center of mass of the exoskeleton-user assembly (11). 15. The exoskeleton for assisting human movement according to claim 14 characterized in that the joint control system (8) comprises an impedance control module that receives information from the sensory system (3) and in particular from the physiological subsystem (5) and automatically adapts the movement of the joint of the exoskeleton to the range, rigidity and spasticity of the equivalent joint of the user. 16. The exoskeleton for assisting human movement according to claim 14 characterized in that the movement control system (12) of each limb (10) synchronizes the joint control systems (8) that integrate the kinematic chain corresponding to that limb depending on the time, position and/or time derivatives thereof, and/or force and/or torque and/or time derivatives thereof, and/or depending on the information from the on board sensory system (3) in order to automatically adapt the movement of the limb to the rigidity conditions of the surroundings in contact. 17. The exoskeleton for assisting human movement according to claim 14 characterized in that the movement control system of the center of mass (11) of the exoskeleton-user assembly synchronizes the control systems of each limb (10) depending on the time and/or position and/or derivatives thereof and/or force and/or torque and/or derivatives thereof, or any other physical, mechanical or biomechanical variable and/or through the feedback of the information from the sensory system (3) and/or through the information ordered by the user by means of a user interface system (16) and/or following a movement reference pattern based on joint positions and/or derivatives thereof and/or torques and/or joint forces and/or positions of the limbs and/or derivatives thereof and/or forces and/or torques in the limbs and/or any biomechanical parameter. 18. The exoskeleton for assisting human movement according to any of claims 14 to 17 characterized in that it comprises a human actuation system that can be combined with the joint control system (8), the movement control system (12) of each limb (10), and the movement control system of the center of mass (11), whereby the muscles of the user participate in a certain degree in the generation of movement. 19. The exoskeleton for assisting human movement according to any of claims 14 or 17 characterized in that it comprises a user interface system (16) that interprets the movement intention of the user and transmits this information to the movement control system of the center of mass (11). 20. The exoskeleton for assisting human movement according to claim 19 characterized in that it comprises a communication system (15) that acts as a link between the control systems (8, 10, 11), the sensory system (3) and the user interface system (16) or between any combination thereof. 21. The exoskeleton for assisting human movement according to claim 20 characterized in that it comprises one or more on board processing units that carry out all the computational processing of one or more of the sensory (3), control (8, 10, 11) and user interface (16) systems. 22. The exoskeleton for assisting human movement according to claim 21 characterized in that the joints joining the segments of the mechanical structure of the exoskeleton of the present invention comprise a joint range adjustable and adaptable to the joint range of the user, wherein this regulation is mechanical or electronic or programmed or automatic, or any combination thereof. 23. The exoskeleton for assisting human movement according to claim 22 characterized in that the mechanical regulation is carried out by means of a stop or sliding brake, by means of threading or by means of any other linear displacement system. 24. The exoskeleton for assisting human movement according to claim 22 characterized in that the regulation is carried out by means of limit sensors. 25. The exoskeleton for assisting human movement according to claim 22 characterized in that the programmed regulation is carried out by establishing the joint limits to the joint control system (8) through the user interface system (16). 26. The exoskeleton for assisting human movement according to claim 22 characterized in that the automatic regulation is carried out through the on board sensory system (3), which determines the joint range of the user and communicates the joint limits to the joint control system (8).
