公开(公告)号：US12171545B2

公开(公告)日：2024-12-24

申请号：US16889173

申请日：2020-06-01

Applicant: TECHNION RESEARCH AND DEVELOPMENT FOUNDATION LIMITED

Inventor： Alon Wolf ,  Hadar Shaulian

IPC: A61B5/11 ,  A43B17/00 ,  A61B5/00

Abstract: A robotic shoe which provides real-time feedback regarding forces acting on the foot of the user, in order to modify these forces in a corrective or diagnostic manner. The shoe comprises an insole equipped with embedded pressure sensors enabling it to continuously monitor the ground reaction forces (GRF) and the foot center of pressure (COP) while the user is standing, walking, and running. The insole COP and GRF readings are input to a programmable system that shifts the COP trajectory dynamically in a patient-specific manner via the robotic platform of the shoe. The robotic platform contains motors that control elements whose movement manipulates the forces acting on the foot and lower limb, resulting in modification of the GRF. Closed loop feedback enables a dynamic fit of an optimal COP. The COP and GRF information can be stored for analysis and diagnosis of gait and instability events accruing during locomotion.