Fall prevention apparatus

1. A fall prevention device configured to be coupled to a person using crutches or a cane, the fall prevention device comprising:

a mechanical torso configured to be coupled to a torso of the person;

at least one mechanical structure that is elongated and tubular and comprising a first end and a second end; and

a rigid coupling to rigidly couple the at least one mechanical structure to the mechanical torso at the first end such that the at least one mechanical structure and the mechanical torso rigidly maintain relative posture to each other, the mechanical torso does not rotate relative to the at least one mechanical structure when coupled to the person, wherein

the second end of the at least one mechanical structure is configured to be positioned behind the person and close to a ground, such that when the second end of the at least one mechanical structure contacts the ground, contact points of legs of the person on the ground and a contact point of the second end of the at least one mechanical structure on the ground outline a multi-sided polygon on the ground,

when a vertical projection of a center of gravity of the person to the ground is configured to intersect the ground within the multi-sided polygon, the fall prevention device is configured to prevent the person from falling backwards or sideways, and

the crutches or cane are configured to prevent the person from falling forward.

2. The fall prevention device of claim 1 , wherein when the at least one mechanical structure contacts the ground, a line joining the ground contact point of the at least one mechanical structure to a coupling location of the at least one mechanical structure to the mechanical torso makes an angle with the vertical projection such that the ground contact point of the at least one mechanical structure is located behind a frontal plane.

3. The fall prevention device of claim 2 , wherein coupling of the at least one mechanical structure to the mechanical torso is adjustable through an adjusting mechanism, and wherein the adjusting mechanism modifies the angle of the line joining the ground contact point to the coupling location of the at least one mechanical structure to the mechanical torso with the vertical projection.

4. The fall prevention device of claim 3 , wherein the adjusting mechanism comprises:

at least one rotary joint, wherein the at least one mechanical structure rotates relative to the mechanical torso through the at least one rotary joint; and

a locking mechanism configured to lock the rotary joint thereby preventing a rotation of the at least one mechanical structure relative to the mechanical torso during operation.

5. The fall prevention device of claim 1 , wherein the at least one mechanical structure comprises one or more of a plurality of concentric units configured to slide into one another.

6. The fall prevention device of claim 5 , wherein each of the plurality of concentric units has a tubular cross-section.

7. The fall prevention device of claim 5 , wherein the plurality of concentric units is configured to retract.

8. The fall prevention device of claim 1 further comprising a locking mechanism capable of coupling and uncoupling the at least one mechanical structure to and from the mechanical torso.

9. The fall prevention device of claim 8 ,

wherein the locking mechanism comprises at least a first position and a second position,

wherein when the locking mechanism is in the first position, the locking mechanism prevents the at least one mechanical structure from uncoupling from the mechanical torso, and

wherein when the locking mechanism is in the second position, the locking mechanism allows the at least one mechanical structure to uncouple from the mechanical torso.

10. The fall prevention device of claim 9 ,

wherein when the locking mechanism is in the first position, the locking mechanism prevents the mechanical structure from adjusting a length of the at least one mechanical structure, and

wherein when the locking mechanism is in the second position, the locking mechanism allows the mechanical structure to adjust the length of the at least one mechanical structure.

11. The fall prevention device of claim 1 , further comprising at least one orthosis rotatably coupled to the mechanical torso.

12. The fall prevention device of claim 11 , where the at least one orthosis is a hip-knee-ankle-foot orthosis.

13. The fall prevention device of claim 11 , where the at least one orthosis is a hip-knee orthosis.

14. The fall prevention device of claim 1 , wherein the second end of the at least one mechanical structure comprises a wheel attachment.

15. The fall prevention device of claim 14 , wherein rotation of the wheel attachment is configured to be locked and unlocked.

16. The fall prevention device of claim 1 , wherein the mechanical torso is configured to be coupled to a lower extremity exoskeleton, the lower extremity exoskeleton comprising:

an exoskeleton torso configured to be coupled to the torso of the person; and

two exoskeleton legs rotatably coupled to the exoskeleton torso and configured to be coupled to legs of the person.

17. The fall prevention device of claim 16 , wherein the two exoskeleton legs of the lower extremity exoskeleton are rotatably coupled to the exoskeleton torso.

18. The fall prevention device of claim 1 , wherein the at least one mechanical structure is coupled to a posterior of the mechanical torso, and wherein the posterior of the mechanical torso is a part of the mechanical torso which is configured to be located behind a frontal plane of the person.

19. The fall prevention device of claim 1 , wherein the at least one mechanical structure comprises a pole.

20. The fall prevention device of claim 1 , wherein the mechanical torso comprises a belt configured to be coupled to the person.

21. The fall prevention device of claim 1 , wherein the mechanical torso further comprises at least a shoulder strap configured to be coupled to the person.

22. The fall prevention device of claim 1 , wherein the at least one mechanical structure is adjustable in length.

23. The fall prevention device of claim 1 , wherein an angle of the at least one mechanical structure with respect to the vertical projection is adjustable.

24. The fall prevention device of claim 1 , wherein the at least one mechanical structure is configured to fold when not in use.

25. The fall prevention device of claim 1 , wherein the at least one mechanical structure is configured to stow away when not in use.

26. The fall prevention device of claim 1 further comprising two lower extremity exoskeleton legs configured to be coupled to the legs of the person.

27. The fall prevention device of claim 1 , wherein the at least one mechanical structure is coupled to a side of the mechanical torso.

28. The fall prevention device of claim 1 , wherein the at least one mechanical structure is coupled to a front of the mechanical torso, and wherein the front of the mechanical torso is configured to be a part of the mechanical torso located in a front of a frontal plane of the person.

29. The fall prevention device of claim 1 , wherein the second end of the at least one mechanical structure comprises an attachment adding traction to the ground.