Walking Device

Abstract

An orthotic device that includes an active mechanism to modify the curvature of the arch support and a mechanism to tilt the heel while performing varied activities is provided. The system functions by using both a plantar pressure sensor to measure the reaction forces felt on the device by the foot and determine the position in the walking cycle. A fluid sensor is typically used to determine the pressure in each hydraulic chamber to determine if the pressure in each chamber corresponds with the distribution pattern in the plantar pressure sensor. This device hardens the insole at the point before push-off to create a rigid lever that increases the user's transfer of energy to the ground.

I claim: 
     
         1 . An active orthotic device comprising:
 a first insole;   a second insole;   a plurality of hydraulic chambers disposed between the first insole and the second insole, the chambers configured to hold liquid within an interior of the chamber, the first insole is configured to bias the plurality of hydraulic chambers in a downward direction;   a plurality of tube fittings, each tube fitting coupled to the plurality of hydraulic chambers;   a plantar pressure sensor disposed on a surface of the first insole;   a microprocessor coupled to the plantar pressure sensor, the microprocessor configured for receiving signals from the plantar pressure sensor and controlling the amount of liquid in the plurality of hydraulic chambers;   a plurality of hydraulic actuators coupled to the microprocessor, each actuator coupled to one of the plurality of hydraulic chambers through one of the plurality of tube fittings, the plurality of hydraulic actuators further having a geared electric motor and a piston, the piston configured to add liquid to and remove liquid from the interior of the hydraulic chamber, the geared electric motor configured to position the piston in response to signals from the microprocessor; and   a device compartment for storing the microprocessor and the plurality of hydraulic actuators.   
     
     
         2 . The active orthotic device of  claim 1 , further comprising a motor driver coupled to the microprocessor and each geared electric motor of the plurality of hydraulic actuators, said motor driver configured to power the geared electric motor. 
     
     
         3 . The active orthotic device of  claim 2 , wherein the geared electric motor is powered using pulse width modulation. 
     
     
         4 . The active orthotic device of  claim 1 , wherein the plurality of hydraulic actuators further comprises a first output gear, a second output gear and a threaded rod, the first output gear coupled to the geared electric motor and the second output gear coupled to the threaded rod, the threaded rod coupled to the piston, wherein the first and second output gear are in contact such that rotational movement of the geared electric motor is converted into linear movement of the piston to drive the piston of the hydraulic actuator to regulate the quantity of liquid in the plurality of hydraulic chambers. 
     
     
         5 . The active orthotic device of  claim 4 , further comprising an encoder coupled to the geared electric motor for reading the number of motor turns so as to control the quantity of liquid in the plurality of hydraulic chambers. 
     
     
         6 . The active orthotic device of  claim 1 , wherein said plurality of hydraulic chambers further comprises a first plurality of medial hydraulic chambers configured to modify the arch support provided to a user's foot and a second plurality of heel hydraulic chambers configured to tilt the heel of a user to a desired angle. 
     
     
         7 . The active orthotic device of  claim 6 , further comprising a support insole on the surface of the first insole located directly above the plurality of hydraulic chambers, said support insole distributes point forces from the medial hydraulic chambers and the heel hydraulic chambers. 
     
     
         8 . An active orthotic device comprising:
 a first insole;   a second insole;   a plurality of hydraulic chambers disposed between the first insole and the second insole, the chambers configured to hold liquid within an interior of the chamber, the first insole is positioned relative the plurality of hydraulic chambers to bias the plurality of hydraulic chambers in a downward direction;   a plantar pressure sensor disposed on a surface of the first insole, the plantar pressure sensor configured for detecting the pressure from an arch of a user's foot;   a plurality of hydraulic actuators, each actuator coupled to one of the plurality of hydraulic chambers, the plurality of hydraulic actuators configured to actively add and remove liquid from the plurality of hydraulic chambers; and   a microprocessor coupled to the plantar pressure sensor and the plurality of hydraulic actuators, the microprocessor configured for receiving one or more signals from the plantar pressure sensor, and, in response to the one or more signals, controlling movement of the plurality of hydraulic actuators to regulate the quantity of liquid in the plurality of hydraulic chambers.   
     
     
         9 . The active orthotic device of  claim 8 , further comprising a device compartment for storing the microprocessor and the plurality of hydraulic actuators. 
     
     
         10 . The active orthotic device of  claim 9 , wherein the plurality of hydraulic actuators further comprises a geared electric motor and a piston, the piston configured to add liquid to and remove liquid from the interior of the hydraulic chamber, the geared electric motor configured to position the piston in response to signals from the microprocessor. 
     
     
         11 . The active orthotic device of  claim 10 , further comprising a motor driver coupled to the microprocessor and each geared electric motor of the plurality of hydraulic actuators, said motor driver configured to power the geared electric motor. 
     
     
         12 . The active orthotic device of  claim 11 , wherein the plurality of hydraulic actuators further comprises a first output gear, a second output gear and a threaded rod, the first output gear coupled to the geared electric motor and the second output gear coupled to the threaded rod, the threaded rod coupled to the piston, wherein the first and second output gear are in contact such that rotational movement of the geared electric motor is converted into linear movement of the piston to drive the piston of the hydraulic actuator to regulate the quantity of liquid in the plurality of hydraulic chambers. 
     
     
         13 . The active orthotic device of  claim 12 , further comprising an encoder coupled to the geared electric motor for reading the number of motor turns so as to control the quantity of liquid in the plurality of hydraulic chambers. 
     
     
         14 . The active orthotic device of  claim 13 , wherein said plurality of hydraulic chambers further comprises a first plurality of medial hydraulic chambers configured to modify the arch support provided to a user's foot and a second plurality of heel hydraulic chambers configured to tilt the heel of a user to a desired angle. 
     
     
         15 . The active orthotic device of  claim 14 , further comprising a support insole on the surface of the first insole located directly above the plurality of hydraulic chambers, said support insole distributes point forces from the medial hydraulic chambers and the heel hydraulic chambers. 
     
     
         16 . A method of correcting a user's arch support using an active orthotic device comprising:
 providing an active orthotic device for correcting a user's arch support, the active orthotic device having,   a first insole,   a second insole,   a plurality of hydraulic chambers disposed between the first insole and the second insole, the chambers configured to hold liquid within an interior of the chamber, the first insole is positioned relative the plurality of hydraulic chambers to bias the plurality of hydraulic chambers in a downward direction,   a plantar pressure sensor disposed on a surface of the first insole, the plantar pressure sensor configured for detecting the pressure from the arch of a user's foot,   a plurality of hydraulic actuators, each actuator coupled to one of the plurality of hydraulic chambers, the plurality of hydraulic actuators configured to control the amount of liquid in the plurality of hydraulic chambers, and   a microprocessor coupled to the plantar pressure sensor and the plurality of hydraulic actuators, the microprocessor configured for receiving one or more signals from the plantar pressure sensor, and, in response to the one or more signals, controlling movement of the plurality of hydraulic actuators to regulate the quantity of liquid in the plurality of hydraulic chambers,   measuring the plantar pressure distribution from a user's foot, determining the stepping frequency of the user, and reading statistical information regarding the user's previous steps and, in response, providing an optimized arch support by triggering one or more of the plurality of hydraulic actuators to add or remove liquid from one or more of the plurality of hydraulic chambers in a medial section of the active orthotic device, resulting in raising or lowering of the plurality of hydraulic chambers of the active orthotic device in the medial section; and   detecting the position of the user in the walking cycle, detecting the heel angle and detecting the stepping frequency of the user and, in response, providing an optimized heel tilt by triggering one or more of the plurality of hydraulic actuators to add or remove liquid from one or more of the plurality of hydraulic chambers in a heel section of the active orthotic device, resulting in raising or lowering of the plurality of hydraulic chambers of the active orthotic device in the heel section of the active orthotic device.   
     
     
         17 . The method of  claim 16 , further comprising:
 collecting data on the walking gait of the user, detecting the stepping frequency of the user, reading the data on the walking gait of the user, detecting the user's position in the walking cycle; and   calculating a force to apply, a position of the force and a time to apply the force and, in response, providing a rigid lever by triggering one or more of the plurality of hydraulic actuators to add or remove liquid from one or more of the plurality of hydraulic chambers in a heel section of the active orthotic device, resulting in raising of the plurality of hydraulic chambers of the active orthotic device.   
     
     
         18 . The method of  claim 17 , wherein the collecting data on the walking gait of the user further comprises collecting data on an area where a user typically bends the shoe before push-off and how much force the user applies to the area.