Orthosis or exoskeleton system with modular elements
There is provided an orthosis or exoskeleton system ( 200 ) comprising: one or more body mounting modules ( 102 ), the or each body mounting module being structured and arranged to, in use, be mounted to one or more parts of a body of a patient, the body mounting modules having different sizes or configurations with respect to each other; and one or more function modules ( 104 ), the or each function module being structured and arranged to provide a different sensing, charging or control function; the body mounting modules and the function modules each having an interfacing structure such that any said body mounting module is interchangeably couplable to any said function module.
1 . An orthosis or exoskeleton system comprising:
two or more body mounting modules and one or more function modules;
the or each body mounting module of the one or more body mounting modules being structured and arranged to, in use, be mounted to respective first and second body parts of a patient, the first and second body parts being either side of a joint of the patient; and
the or each function module of the two or more function modules being structured and arranged to provide a sensing function;
the or each body mounting module of the one or more body mounting modules and the or each function module of the two or more function modules each having an interfacing structure such that any of said one or more body mounting modules is interchangeably couplable to any of said two or more function modules, wherein
the one or more body mounting modules and the two or more function modules each have a transfer interface such that information may be transferred between one respective body mounting module and one respective function module when coupled,
wherein
the one or more body mounting modules comprises first and second brace assemblies, the first brace assembly pivotably coupled to the second brace assembly using a hinge; wherein
the transfer interface includes a magnet arranged to rotate with the first brace assembly and a Hall Effect sensor arranged on the one respective function module to detect the rotation of the magnet, wherein
the sensing function is dependent on an angle between the first and second body part.
2 . A system according to claim 1 , wherein the interfacing structures are configured to provide a quick release or tool-less coupling between the one respective body mounting module of the one or more body mounting modules and the one respective function module of the two or more function modules.
3 . A system according to claim 1 , wherein one body mounting module of the one or more body mounting modules is further structured and arranged to provide a control function, and one of the two or more function modules is further structured and arranged to provide a power source to power sensor or control electronics located in said body mounting module and is structured and arranged to provide a charging function to charge the power source.
4 . A system according to claim 1 , wherein the information is selected from one of the following: an angle between different parts of the body mounting module; an orientation of the body mounting module or function module; movement of the body mounting module or function module; muscle activity of a body part of the patient; patient proximity; body temperature; heart rate; respiration rate; blood pressure; blood oxygen level; joint/body forces and/or load.
5 . A system according to claim 1 , wherein the first brace assembly is pivotably coupled to the second brace assembly using a unicentric hinge.
6 . A system according to claim 1 , wherein the first and second brace assemblies each comprise first and second brace interfacing structures respectively forming the interfacing structure of the one or more of the body mounting modules, each of the two or more function modules comprising a complementary interfacing structure which is arranged to engage with one of the first or the second brace interfacing structures when the two or more function modules are coupled to the one or more body mounting modules.
7 . A system according to claim 1 , wherein the first and second brace assemblies each comprise first and second pivot portions respectively, the first and second pivot portions being pivotably coupled at a pivot assembly, the pivot assembly being configured to couple to the two or more function modules.
8 . A system according to claim 1 , wherein the interfacing structure of the two or more functional modules and the first brace interfacing structure comprise a first locking mechanism to lock the orientation of the two or more function modules relative to the first brace assembly.
9 . A system according to claim 1 , wherein the two or more function modules comprises a rotation limitation mechanism configured to limit rotation of the first brace assembly relative to the second brace assembly.
10 . A system according to claim 1 , wherein the two or more function modules comprises a resistance mechanism configured to provide a predetermined level of resistance to rotation of the first brace assembly relative to the second brace assembly.
11 . A system according to claim 1 , wherein the pivot assembly is configured to couple to the two or more function modules by rotating the two or more function modules relative to the pivot assembly.
12 . A system according to claim 1 , wherein the interfacing structure of the one or more body mounting modules comprises a slide-able lock mechanism and the interface of the two or more function modules comprises a locking recess which is arranged to engage with the slide-able lock mechanism to couple the one or more body mounting modules to the two or more function modules.
13 . A system according to claim 1 , wherein the interfacing structure of the one or more body mounting modules comprises a number of locating recesses and the interfacing structure of the two or more function modules comprises a number of locating projections which are arranged to engage with the locating recesses to couple the one or more body mounting modules to the two or more function modules.