EN
IT

This invention consists in a flexible sensorised footsole for lower limb orthotic/prosthetic devices or humanoid robots. Its purpose is to exploit its flexibility to replicate a more human-like gait, absorb the shock at the impact during the landing phase and deform accordingly with any interaction with the environment or the wearer in case of a wearable robot. The sole is also sensorised to measure the interaction force.

Patent Status

PENDING

Priority Number

IT10201500003447 – 1

Priority Date

15/07/2015

License

INTERNATIONAL

Market

The advanced prosthetics and exoskeletons market was valued at $2.11 billion in FY 2018, and is expected to reach $3.82 million by 2024, registering a CAGR of 10.42% during the forecast period of 2019 to 2024. (BIS Research)

Problem

In the field of wearable robotics and humanoid robotics, current robotic footsoles exhibit a rigid structure which makes it hadrd to replicate a natural gait.

Current Technology Limitations

The actual rigid footsoles used in the field of wearable/humanoid robotics make the walking pattern unnatural and inefficient, far from the heel-strike type of gait typical of humans.

Killer Application

The insole presented here is mainly used in the production of exoskeletons for the lower limbs, prostheses.

Our Technology and Solution

The footsole presented here exploit its flexibility to replicate a more human-like gait. It is made of three rigid segments (heel, center, tip) connected through armonic steel – made leaf springs. The springs are constrained to deflect on a curved surface such that the active length of the spring shortens for a growing deflection angle between the central segment and the heel or the tip thanks to an appropriate profile of the housing. This allows for a stiffening of the two joints for growing deflection to avoid the joint to reach the end-stop during normal walking conditions. Strain gauges are glued onto the leaf springs to measure the force/torque exerted on the foot and estimate the deflection angle. The ankle flexion/extension is implemented through another leaf spring. The sole uses a ”zero” angle selector that is used to set the no load ankle flexion/extension position of the footsole.

Advantages

Thanks to its flexibility, the footsole presented here, is able to absorb the shock at the impact during the landing phase or deform accordingly with any interaction with the environment or the wearer in case of a wearable robot. The sole is also sensorised to measure the interaction force.

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TRL 1
Basic Principles
Basic principles tested
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TRL 2
Formulation
Technology concept formulated
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TRL 3
Proof of concept
Experimental proof of concept
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TRL 4
Laboratory Prototype
Technology validated in lab
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TRL 5
Prototype tested on pilot-scale/large-scale
Technology validated in relevant environment (industrially relevant environment in the case of key enabling technologies)
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TRL 6
Commercial prototype
Technology demonstrated in relevant environment (industrially relevant environment in the case of key enabling technologies)
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TRL 7
Real world validation
System prototype demonstration in operational/real-world environment
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TRL 8
First complete and commercial product
System complete and qualified
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TRL 9
Full commercial application
Actual system proven in commercial environment (competitive manufacturing in the case of key enabling technologies; or in space)

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