US 11,925,596 B2
System for rehabilitating the walk and weight supporting device for such
Guido Belforte, Turin (IT); Carlo Belforte, Turin (IT); Enrico Bisetti, Turin (IT); and Silvia Alessandra Sirolli, Turin (IT)
Assigned to NIMBLE ROBOTICS S.R.L., Turin (IT)
Appl. No. 16/982,371
Filed by NIMBLE ROBOTICS S.R.L., Turin (IT)
PCT Filed Feb. 26, 2019, PCT No. PCT/IT2019/000017
§ 371(c)(1), (2) Date Sep. 18, 2020,
PCT Pub. No. WO2019/180751, PCT Pub. Date Sep. 26, 2019.
Claims priority of application No. 102018000003889 (IT), filed on Mar. 23, 2018.
Prior Publication US 2021/0030615 A1, Feb. 4, 2021
Int. Cl. A61H 3/00 (2006.01); A61H 1/02 (2006.01)
CPC A61H 3/008 (2013.01) [A61H 1/0262 (2013.01); A61H 1/0266 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/1246 (2013.01); A61H 2201/149 (2013.01); A61H 2201/1642 (2013.01); A61H 2201/1652 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A system for rehabilitating a walk comprising:
an active exoskeleton comprising:
a supporting structure for a right leg and a left leg,
a first bearing and moving structure for a femur of the patient, the first bearing and moving structure rotatably connected to the supporting structure,
a second bearing and moving structure for a tibia of the patient with respect to the femur, the second bearing and moving structure rotatably connected to the first bearing and moving structure,
a third bearing and moving structure for a foot of the patient with respect to the tibia, the third bearing and moving structure rotatably connected to the second bearing and moving structure;
a weight supporting device configured to permit lifting or lowering the patient and the active exoskeleton associated thereto in order to place the patient in contact with the ground in position to perform walking exercises, the weight supporting device connected to means for supporting the exoskeleton and the patient;
handling means connected to the weight supporting device to allow movement of the weight supporting device;
means for transmitting electric and pneumatic supplies and electric signals for managing, controlling, and monitoring the system to the weight supporting device;
a managing system comprising a microprocessor to acquire and process data, and to manage a motion neuro-rehabilitating session;
the weight supporting device comprising:
a suspension element connected on a side to the exoskeleton and to the patient through the means for supporting the exoskeleton, and connected on another side to a lifting band of the weight supporting device; and
a pair of returning pulleys; and
a band collecting pulley actuated by actuating means, around which the lifting band is wound to change a length of the lifting band till a final locking in the desired position; and
a housing connected to the handling means, the housing encasing the band collecting pulley, the actuating means, and at least a portion of the lifting band; and
the weight supporting device further comprising: a pneumatic device connected to a mobile pulley around which the lifting band is wound before getting to the band collecting pulley, which allows the free vertical movement of the patient starting from an initial position, with a constant weight relieving force, to allow a comfortable actuation for a patient; and
wherein the pair of returning pulleys are disposed between the band collecting pulley and mobile pulley.