Metabolically efficient leg brace
View Patent ↗Embodiments of the invention relate to walking/running braces and to devices for enhancing locomotion, specifically human bipedal locomotion. More particularly, it relates to a controlled mechanical device which provides support of the torso via the hip sockets, reduces the metabolic energy associated with walking/running and reduces the incidence of falls caused by insufficient leg thrust. Embodiments of the invention also relates to reducing the strain and metabolic energy consumption associated with walking/running with a heavy backpack or other significant carried load.
1. A metabolically efficient leg brace, comprising:
a shank frame for transferring forces between a wearer's tibia/fibula and the shank frame;
a thigh frame for transferring forces between a wearer's femur and the thigh frame;
at least one knee joint rotatably coupling the shank frame to the thigh frame;
at least one torsion spring having a torsional axis at the at least one knee joint, a first arm of the torsion spring coupled to the shank frame, and a second arm of the torsion spring coupled to an input arbor of a thigh clutch;
an output arbor of the thigh clutch coupled to the thigh frame;
a first activation mechanism for actuating and releasing the thigh clutch; and
an electronics control module controlling the first activation mechanism during periods governed by the wearer's gait.
2. The leg brace of claim 1 , further comprising: a shoe frame rotatably coupled to the shank frame at an ankle joint for transferring forces between the wearer's shoe/foot and the shoe frame.
3. The leg brace of claim 1 , further comprising:
a second leg brace; and
an attached mass support frame rotatably coupled at a hip joint to respective thigh frames of each leg brace for transmitting forces between attached masses and the coupled leg braces.
4. The leg brace of claim 1 , wherein the first activation mechanism is a cam optimized for reduced energy consumption.
5. A metabolically efficient leg brace, comprising:
a shank frame for transferring forces between a wearer's tibia/fibula and the shank frame;
a thigh frame for transferring forces between a wearer's femur and the thigh frame;
at least one knee joint rotatably coupling the shank frame to the thigh frame;
at least one torsion spring having a torsional axis at the at least one knee joint, a first arm of the torsion spring coupled to the shank frame, and a second arm of the torsion spring coupled to an input arbor of a thigh clutch;
an output arbor of the thigh clutch coupled to the thigh frame; and
a first activation mechanism for actuating and releasing the thigh clutch during periods governed by the wearer's gait;
a spring clutch having an input arbor coupled to the first arm of the at least one torsion spring and an output arbor coupled to the shank frame; and
a second activation mechanism for actuating and releasing the spring clutch during periods governed by the wearer's gait.
6. The leg brace of claim 5 , wherein the spring clutch is a one-way clutch with an orientation selected such that its free direction of rotation occurs during the wearer's knee flexion.
7. The leg brace of claim 5 , wherein the clutch is a one-way two-state clutch with an orientation selected such that its direction of rotation occurs during the wearer's knee flexion.
8. The leg brace of claim 5 , wherein the second activation mechanism is a cam optimized for reduced energy consumption.
9. The leg brace of claim 5 , wherein the at least one torsion spring is a non-linear hardening torsion spring.
10. The leg brace of claim 5 , wherein the thigh clutch is a one-way two-state clutch whose hard direction occurs during a wearer's knee flexion.
11. The leg brace of claim 5 , wherein the first activation mechanism is a cam optimized for reduced energy consumption.
12. A metabolically efficient leg brace, comprising:
a shank frame for transferring forces between a wearer's tibia/fibula and the shank frame;
a thigh frame for transferring forces between a wearer's femur and the thigh frame;
at least one knee joint rotatably coupling the shank frame to the thigh frame;
at least one torsion spring having a torsional axis at the at least one knee joint, a first arm of the torsion spring coupled to the shank frame, and a second arm of the torsion spring coupled to an input arbor of a thigh clutch;
an output arbor of the thigh clutch coupled to the thigh frame; and
a first activation mechanism for actuating and releasing the thigh clutch during periods governed by the wearer's gait; wherein the thigh clutch transfers torque between slipping input and output arbors of the thigh clutch and the activation mechanism activates the thigh clutch to achieve constant power dissipation.
13. A metabolically efficient leg brace, comprising:
a shank frame for transferring forces between a wearer's tibia/fibula and the shank frame;
a thigh frame for transferring forces between a wearer's femur and the thigh frame;
at least one knee joint rotatably coupling the shank frame to the thigh frame;
at least one torsion spring having a torsional axis at the at least one knee joint, a first arm of the torsion spring coupled to the shank frame, and a second arm of the torsion spring coupled to an input arbor of a thigh clutch;
an output arbor of the thigh clutch coupled to the thigh frame; and
a first activation mechanism for actuating and releasing the thigh clutch during periods governed by the wearer's gait.