Patent Publication Number: US-11638673-B2

Title: Hip-knee passive exoskeleton device based on clutch time-sharing control

Description:
BACKGROUND 
     Technical Field 
     The disclosure belongs to the technical field of lower limb exoskeleton, and more particularly relates to a hip-knee passive exoskeleton device based on clutch time-sharing control. 
     Description of the Related Art 
     Although the emergence of wheeled vehicles such as cars and trains greatly facilitates people&#39;s travel, it is easily restricted by terrain conditions. Humans still walk about 10,000 steps per day, and walking is irreplaceable in people&#39;s daily life. However, due to a large amount of soft tissue friction inside the human body, air damping, sliding friction of the shoe soles and the like, the movement efficiency of the human walking is low. At the same time, muscle fatigue caused by long-term walking will reduce people&#39;s exercise capacity and cause inconvenience in daily life. Therefore, it is of great scientific significance and practical value to develop a lower limb exoskeleton device that can assist human walking, improve human walking efficiency and enhance human movement ability. 
     The passive lower limb exoskeleton is different from the traditional powered lower limb exoskeleton. The traditional powered lower limb exoskeleton is driven by the actuator, and usually also includes an energy source, sensors, a control system and the like. Such exoskeleton is usually complicated in structure and heavy in equipment, and is often used for patient rehabilitation training and individual combat of troops, but not suitable for normal walking in human&#39;s daily life. The passive lower limb exoskeleton is more in line with the human movement law, and only relies on the movement of external elastic components with the lower limb to provide power assistance, and thus, such exoskeleton does not need complex components such as sensors and energy sources, only relying on clever structural design and the arrangement of elastic components to assist the daily human walking and reduce the metabolism energy consumption of walking. The passive lower limb exoskeleton has low manufacturing cost, simple structure and light-weight, and thus it is not only a research hotspot in the frontier of exoskeleton robotics, but also has broad application prospects. 
     At present, a variety of passive lower limb exoskeleton devices for assisting walking, running and jumping have been developed in China, but there are few passive lower limb exoskeleton devices that can successfully improve walking efficiency and reduce walking metabolic energy consumption. Currently, the developed passive exoskeleton devices that can reduce the metabolic energy consumption are single joint exoskeleton devices, and most of them are aimed to the ankle or hip joint that does more positive work during walking, completely ignoring the movement effect of the knee joint and the movement synergistic relationship of the whole lower limb. This severely limits the movement assisting effect of the passive lower limb exoskeleton devices, and it is difficult to further improve the utilization efficiency of the human metabolic energy. Through developing a multi joint passive exoskeleton device capable of assisting both the knee joint and the hip joint in combination with the walking movement characteristics of the knee joint, it is expected to not only fully utilize the energy of the knee joint and the hip joint, but also further improve the walking efficiency and reduce the walking metabolic energy. 
     SUMMARY 
     In view of the above-described defects or improvement requirements in the art, the present disclosure provides a hip-knee passive exoskeleton device based on clutch time-sharing control, which combines the walking movement characteristics of the knee joint and the hip joint to enable the knee joint energy to be transferred to the hip joint through an external device so as to assist the movement of both the knee joint and the hip joint, thereby improving the energy utilization efficiency and reducing the walking metabolic energy consumption. 
     In order to achieve the above objective, the present disclosure provides a hip-knee passive exoskeleton device based on clutch time-sharing control, comprising: a waist support subassembly, connection subassemblies, thigh subassemblies, clutch subassemblies, shank subassemblies and elastic member subassemblies, wherein the waist support subassembly is configured to be connected to the waist, the connection subassemblies are configured to connect the waist support subassembly and the thigh subassemblies and include two connection subassemblies which are arranged in bilateral symmetry on two sides of the waist support subassembly, the thigh subassemblies are configured to include two thigh subassemblies which are respectively connected to the two connection subassemblies and are connected to the thighs, the clutch subassemblies are configured to include two clutch subassemblies which are respectively mounted on the two thigh subassemblies to perform time-sharing control of the energy of the knee and hip joints, the shank subassemblies are configured to include two shank subassemblies which are arranged in bilateral symmetry below the two thigh subassemblies and are connected to the shanks, the elastic member subassemblies are configured to include two elastic member subassemblies which are arranged in bilateral symmetry, connects the waist support subassembly and the shank subassemblies and passes through the clutch subassemblies. 
     Preferably, the waist support subassembly includes two waist braces, a waist flexible strap and a waist brace connector, the waist brace connector is configured to connect one ends of the two waist braces, and the waist flexible strap is configured to connect the other ends of the two waist braces, so that the two waist braces is connected to the waist to support the force. 
     Further preferably, each of the connection subassemblies includes a pawl force arm connector, a pawl force arm, a spring force arm, a hip joint movement connector, a thigh connecting rod, and a knee joint movement connector, wherein the pawl force arm connector is configured to connect the pawl force arm to the waist brace, the spring force arm is mounted on the waist brace, the hip joint movement connector is respectively hinged to the pawl force arm connector and an upper end of the thigh connecting rod to ensure the free movement of the thigh connecting rod with the thigh, and the knee joint movement connector is hinged to a lower end of the thigh connecting rod. 
     Further preferably, each of the thigh subassemblies includes a thigh rear hoop and a flexible thigh strap, the thigh rear hoop is hinged to the knee joint movement connector, and the flexible thigh strap is configured to closely attach the thigh rear hoop to the thigh. 
     Further preferably, each of the clutch subassemblies includes a clutch bracket, a clutch cover plate, a ratchet wheel, a stroke stop, a wire wheel, a pawl and a pawl rope, wherein the clutch bracket is mounted on the thigh rear hoop, the ratchet wheel, the stroke stop and the wire wheel are mounted between the clutch bracket and the clutch cover plate via a spline shaft to ensure synchronous rotation of the ratchet wheel, the stroke stop and the wire wheel, the pawl is rotatably mounted between the clutch bracket and the clutch cover plate via a pawl shaft, the pawl rope has an upper end connected to the pawl force arm and a lower end connected to the pawl, and the pawl is located on the side of the ratchet wheel and is engageable with the ratchet wheel. 
     Further preferably, each of the shank subassemblies includes a shank rear hoop, a shank front hoop and a flexible shank strap, the shank rear hoop and the shank front hoop are hinged together by hinge pins, and the shank flexible strap secures the shank rear hoop and the shank front hoop to the shank. 
     Further preferably, each of the elastic element subassemblies includes a tension spring, a spring connecting rope, a pawl torsion spring and a wire wheel torsion spring, wherein the tension spring has an upper end connected to the spring force arm and a lower end connected to an upper end of the spring connecting rope, the spring connecting rope has a middle portion connected to the wire wheel and a lower end connected to the shank rear hoop, the pawl torsion spring is mounted between the pawl and the clutch cover plate to return the pawl to an initial position, and the wire wheel torsion spring is mounted between the wire wheel and the clutch bracket to return the wire wheel to an initial position. 
     In general, by comparing the above technical solution of the present inventive concept with the prior art, the present disclosure has the following beneficial effects: 
     1. In the present disclosure, through the design and cooperation of key components such as a waist support subassembly, connection subassemblies, thigh subassemblies, clutch subassemblies, shank subassemblies and elastic member subassemblies, a hip-knee passive exoskeleton device based on clutch time-sharing control is obtained, which can fully utilize the energy of the hip and knee joints and has the advantages of high walking efficiency and strong applicability. 
     2. In the present disclosure, through providing a clutch triggered by the angles of the hip and knee joints, the spring is stretched to store the energy when the knee joint performs the negative work, and shrinks to release the energy when the hip joint performs the positive work, so that the knee joint energy can be transferred to the hip joint through an external device to assist the movements of both the knee joint and the hip joint, thereby improving the utilization efficiency of the energy and reducing the metabolic energy consumption of walking. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a schematic diagram of the overall structure of a hip-knee passive exoskeleton device based on clutch time-sharing control according to the present disclosure; 
         FIG.  2    is an isometric diagram of the overall structure of the hip-knee passive exoskeleton device based on clutch time-sharing control according to the present disclosure; 
         FIG.  3    is an isometric diagram of a clutch according to the present disclosure; 
         FIG.  4    is an exploded diagram of the clutch according to the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     For clear understanding of the objectives, features and advantages of the present disclosure, detailed description of the present disclosure will be given below in conjunction with accompanying drawings and specific embodiments. It should be noted that the embodiments described herein are only meant to explain the present disclosure, and not to limit the scope of the present disclosure. Furthermore, the technical features related to the embodiments of the disclosure described below can be mutually combined if they are not found to be mutually exclusive. 
     As shown in  FIG.  1   , a hip-knee passive exoskeleton device based on clutch time-sharing control according to embodiments of the present disclosure includes a waist support subassembly I, connection subassemblies II, thigh subassemblies III, clutch subassemblies IV, shank subassemblies V and elastic member subassemblies VI, in which the waist support subassembly I is configured to be connected to the waist, the connection subassemblies II are configured to connect the waist support subassembly I and the thigh subassemblies III and include two connection subassemblies which are arranged in bilateral symmetry on two sides of the waist support subassembly I, the thigh subassemblies III are configured to include two thigh subassemblies which are respectively connected to the two connection subassemblies II and are connected to the thighs, the clutch subassemblies IV are configured to include two clutch subassemblies which are respectively mounted on the two thigh subassemblies III to perform time-sharing control of the energy of knee joints and hip joints, the shank subassemblies V are configured to include two shank subassemblies which are arranged in bilateral symmetry below the two thigh subassemblies III and are connected to the shanks, the elastic member subassemblies VI are configured to include two elastic member subassemblies which are arranged in bilateral symmetry, connects the waist support subassembly I and the shank subassemblies V and passes through the clutch subassemblies IV in the middle, and are used for storing energy and providing torques to assist the movements of the knee and hip joints. 
     As shown in  FIGS.  1  and  2   , the waist support subassembly I includes two waist braces  14 , a waist flexible strap  17  and a waist brace connector  2 , in which the waist brace connector  2  is configured to connect one ends of the two waist braces  14 , and the waist flexible strap  17  is configured to connect the other ends of the two waist braces  14 , so that the two waist braces  14  are connected to the waist to support the force. Specifically, each waist brace  14  has boss planes on the side and the back, on which threaded holes are arranged for connecting the waist brace connector  2 , a spring force arm  1  and a pawl force arm connecting member  12 . The waist brace connector  2  has through holes distributed at a certain interval for adjusting a distance between the left and right waist braces  14  according to the wearer&#39;s shape. The waist brace connector  2  is connected to the waist braces  14  by screws, and the waist braces are further provided with through holes for reducing the mass. 
     As shown in  FIGS.  1  and  2   , each of the connection subassemblies II includes a pawl force arm connector  12 , a pawl force arm  13 , a spring force arm  1 , a hip joint movement connector  4 , a thigh connecting rod  10  and a knee joint movement connector  16 , in which the pawl force arm connector  12  is configured to connect the pawl force arm  13  to the waist brace  14 , the spring force arm  1  is mounted on the waist brace  14 , the hip joint movement connector  4  is respectively hinged to the pawl force arm connector  12  and an upper end of the thigh connecting rod  10  to ensure the free movement of the thigh connecting rod  10  with the thigh, and the knee joint movement connector  16  is hinged to a lower end of the thigh connecting rod  10 . 
     Specifically, the pawl force arm connector  12  is fixed to the waist brace  14  by screws, and two threaded holes are disposed in the horizontal direction for mounting the pawl force arm  13  on the pawl force arm connector  12  by screws. The pawl force arm connector  12  is provided with a cylindrical slot on the lowermost end, and the hip joint movement connector  4  is rotatably mounted on the pawl force arm connector  12  by a deep groove ball bearing, a bolt and a nut. The pawl force arm  13  is provided with through holes uniformly arranged at a certain distance for fixing and connecting an upper end of a pawl string  11 . The hip joint movement connector  4  is provided with a through hole for connecting the pawl force arm connector  12  at the upper end, and a cylindrical slot at the lower end, and the thigh connecting rod  10  is rotatably mounted on the hip joint movement connector  4  by a deep groove ball bearing, a bolt and a nut. Through the above connection, the thigh connecting rod  10  is ensured to freely move with the thigh. The thigh connecting rod  10  is provided with, at the upper end, through holes uniformly arranged at a certain distance for adjusting a distance between the knee joint movement connector  16  and the hip joint movement connector  4  according to different heights of the wearers. 
     As shown in  FIGS.  1  and  2   , each of the thigh subassemblies III includes a thigh rear hoop  9  and a thigh flexible strap  15 , in which the thigh rear hoop  9  is hinged to the knee joint movement connector  16 , and the thigh flexible strap  15  is configured to closely attach the thigh rear hoop  9  to the thigh. Specifically, a cylindrical slot is provided in the middle of the knee joint movement connector  16 , and the knee joint movement connector  16  is rotatably mounted on the lower end of the thigh connecting rod  10  by a deep groove ball bearing, a bolt and a nut. The knee joint movement connector  16  is provided in bilateral symmetry with cylindrical through holes for placing a hinge pin, and the thigh rear hoop  9  is rotatably mounted on the knee joint movement connector  16  through the hinge pin. Further, a boss plane is arranged in the middle portion of the thigh rear hoop  9 , threaded holed are drilled on the boss plane for mounting a clutch cover plate  18  and a clutch bracket  23 , the thigh flexible strap  15  passes through both sides of the thigh rear hoop  9  to attach the thigh rear hoop  9  to the human thigh, so that the thigh rear hoop  9  and the clutch subassembly are allowed to move together with the thigh. In addition, the thigh rear hoop  9  is also provided with through holes for reducing the mass. 
     As shown in  FIGS.  3  and  4   , each of the clutch subassemblies IV includes a clutch bracket  23 , a clutch cover plate  18 , a ratchet wheel  20 , a stroke stop  21 , a wire wheel  22 , a pawl  33  and a pawl rope  11 , in which the clutch bracket  23  is mounted on the thigh rear hoop  9 ; the ratchet wheel  20 , the stroke stop  21  and the wire wheel  22  are mounted between the clutch bracket  23  and the clutch cover plate  18  via a spline shaft  28  to ensure synchronous rotation of the ratchet wheel  20 , the stroke stop  21  and the wire wheel  22 , the pawl  33  is rotatably mounted between the clutch bracket  23  and the clutch cover plate  18  via a pawl shaft  32 , the pawl rope  11  has an upper end connected to the pawl force arm  13  and a lower end connected to the pawl  33 , so that when the thigh swings back, the pawl rope  11  pulls the pawl  33  to rotate, disengaging the pawl  33  from the ratchet wheel  20 . 
     Specifically, the clutch cover plate  18  and the clutch bracket  23  are each provided with circular holes for placing flange bearings. The ratchet wheel  20 , the stroke stop  21  and the wire wheel  22  are closely attached to the spline shaft  28  to ensure synchronous rotation of the ratchet wheel  20 , the stroke stop  21  and the wire wheel  22 . The spline shaft  28  is rotatably mounted in the flange bearings arranged in parallel on the clutch bracket  23  and the clutch cover plate  18 . Specifically, the wire wheel  22  is mounted on the long axis side of the spline shaft  28 , the ratchet wheel  20  is passed through by the spline shaft  28  on a side of the wire wheel  22  near the clutch cover plate  18 , a ratchet wheel stop  19  is passed through by the spline shaft  28  between the ratchet wheel  20  and the clutch cover plate  18  to prevent the axial movement of the ratchet wheel  20  on the spline shaft  28 , and a wire wheel stop  30  is passed through by the spline shaft  28  between the wire wheel  22  and the clutch bracket  23  to prevent the axial movement of the wire wheel  22  on the spline shaft  28 . 
     Further, the pawl  33  is rotatably mounted by the pawl shaft  32  in the flange bearings arranged in parallel on the clutch bracket  23  and the clutch cover plate  18 . The pawl  33  is provided with a torsion spring groove for mounting a pawl torsion spring  27 , and is mounted such that the torsion spring groove is directed toward the clutch cover plate  18 . A side of the pawl torsion spring  27  is mounted in the torsion spring groove of the pawl  33 , and the other side of the pawl torsion spring  27  is mounted on a hole of the clutch cover plate  18 , so that the pawl  33  can be returned to the initial state without being subjected to an external force. A pawl stop  26  is passed through by the pawl shaft  32  between the pawl  33  and the clutch cover plate  18 . Further, the clutch bracket  23  is provided with a stepped rod on which a plastic guide rail  25  is mounted to determine the direction of the spring connecting rope  5 . A rail retaining ring  24  is passed through by the stepped rod on the clutch bracket  23  and is disposed between the plastic guide rail  25  and the clutch cover plate  18  to axially position the plastic guide rail  25 . The wire wheel  22  is provided with a torsion spring groove, a side of a wire wheel torsion spring  29  is mounted in the torsion spring groove of the wire wheel  22 , and the other side of the wire wheel torsion spring  29  is mounted on a hole of the clutch bracket  23 , so that the wire wheel  22  can be returned to the initial installation state without being subjected to an external force. A torsion spring stop  31  is located between the wire wheel  22  and the clutch bracket  23 , and coaxially covers the wire wheel torsion spring  29  to prevent the movement of the wire wheel torsion spring  29 . 
     As shown in  FIGS.  1  and  2   , each of the shank subassemblies V includes a shank rear hoop  7 , a shank front hoop  6  and a shank flexible strap  8 , in which the shank rear hoop  7  and the shank front hoop  6  are hinged together by hinge pins, and the shank flexible strap  8  secures the shank rear hoop  7  and the shank front hoop  6  to the shank. Specifically, the shank front hoop  6  is provided with, at the side end, circular through holes for placing hinge pins, the shank rear hoop  7  is rotatably mounted on the shank front hoop  6  through the hinge pins, and the shank flexible strap  8  closely attaches the shank rear hoop  7  and the shank front hoop  6  to the shank, so that the shank subassembly V can move with the shank. 
     As shown in  FIGS.  1  and  4   , each of the elastic element subassemblies VI includes a tension spring  3 , a spring connecting rope  5 , a pawl torsion spring  27  and a wire wheel torsion spring  29 , in which the tension spring  3  has an upper end connected to the spring force arm  1  and a lower end connected to an upper end of the spring connecting rope  5 , and the spring connecting rope  5  has a middle portion connected to the wire wheel  22  and a lower end connected to the shank rear hoop  7 . The pawl torsion spring  27  is mounted between the pawl  33  and the clutch cover plate  18  to return the pawl  33  to the initial position. When the thigh swings back, the pawl rope  11  will pull the pawl  33  to rotate, so that the pawl  33  is disengaged from the ratchet wheel  20 , and at this time, the wire wheel pawl torsion spring  27  has a certain restoring moment. When the thigh swings forward, the pawl rope  11  is in a relaxed state, and the pawl torsion spring  27  drives the pawl  33  back to the initial position. The wire wheel torsion spring  29  is mounted between the wire wheel  22  and the clutch bracket  23  to return the wire wheel  22  to the initial position. When the human body is in an upright state, the spring connecting rope  5  pulls the wire wheel  22  to rotate by a certain angle, and at this time, the wire wheel torsion spring  29  has a certain restoring moment. When the thigh swings back and the knee joint bends, the spring connecting rope  5  is in a relaxed state, and the wire wheel  22  is returned to the initial installation position by the wire wheel torsion spring  29 . 
     Specifically, the upper end of the tension spring  3  is hooked on the spring force arm  1 , the lower end of the tension spring  3  is bundled with the upper end of the spring connecting rope  5 , the middle position of the spring connecting rope  5  is fixed on the hole of the wire wheel  22  to allow the middle position of the spring connecting rope  5  to rotate synchronously with the wire wheel  22 , and the lower end of the spring connecting rope  5  is fixedly connected to the shank rear hoop  7 , so that the tension spring  3  is stretched in a negative work phase of the knee joint to store the energy to assist the movement of the knee joint, and shrinks in a positive work phase of the hip joint to release the energy to assist the movement of the hip joint. The spring connecting rope  5  is a polyethylene rope. As shown in  FIG.  3   , by adjusting the initial positions of the pawl torsion spring  27  and the wire wheel torsion spring  29 , in the initial state, the pawl  33  approaches but does not engage with the ratchet wheel  20 , and after the wire wheel  22  rotates counterclockwise by a certain angle (for example, 100°), the pawl  33  is pushed off by the stroke stop  21 . When the wire wheel  22  is released and returned, the stroke stop  21  presses the pawl  33  downward so that the pawl  33  and the ratchet wheel  20  engage with each other and cannot rotate. The initial state of the device is a wear state of the wearer when standing normally. At this time, the wire wheel  22  is rotated by about 100°, the wire wheel torsion spring  29  rotates synchronously with the wire wheel  22 , and thus the wire wheel torsion spring  29  is twisted by about 100° and has a large restoring moment, so that the pawl  33  is pressed by the stroke stop  21  and engage with the ratchet wheel  20  to achieve self-lock. The pawl torsion spring  27  rotates synchronously with the pawl  33 , and has a certain restoring moment. The pawl rope  11  is adjusted to be in a tight state, the spring connecting rope  5  is adjusted to be in a tight state, and at this time, the tension spring  3  is in a tensionless state. 
     Taking the initial phase of the human walking at the time of the toe off as an example, the normal operation of the device is described below. 
     First stage: at the time of the toe off, the hip joint is at the maximum extension angle. At this time, the spring connecting rope  5  between the wire wheel  22  and the tension spring  3  is in a relaxed state, the spring connecting rope  5  between the shank rear hoop  7  and the wire wheel  22  is in a tight state, the tension spring  3  is in a free state, and the pawl rope  11  pulls the pawl  33  such that the pawl  33  is disengaged from the ratchet wheel  20  and the ratchet wheel  20  can be rotated back; then the thigh swings forward and the shank bends, the hip joint rotates from the maximum extension angle to zero, and the knee joint rotates from zero to the near maximum flexion angle. At this stage, the ratchet wheel  20  and the wire wheel  22  are synchronously returned under the action of the wire wheel torsion spring  29 , so that the spring connecting rope  5  between the wire wheel  22  and the tension spring  3  is still in a relaxed state, at which time the pawl  33  is returned under the action of the pawl torsion spring  27 , and the pawl rope  11  is in an initial tension state. 
     Second stage: the hip joint rotates from zero to the maximum flexion angle, and the knee flexes to the maximum angle. At this stage, the thigh swings forward and the shank bends, the spring connecting rope  5  is completely in a tight state, the tension spring  3  is in a free state, and the pawl rope  11  is in a relaxed state. 
     Third stage: the hip joint maintains the maximum flexion angle, and the knee joint rotates from the maximum flexion angle to the maximum extension angle. At this stage, the thigh does not rotate, and the shank swings forward, so that the stroke stop  21  rotates synchronously with the wire wheel  22  to push away and pass over the pawl  33 , and the spring connecting rope  5  is in a stretched state while the tension spring  3  is elongated to store the energy of the shank movement to assist the negative work of the knee joint. 
     Fourth stage: the knee joint rotates slightly, and the hip joint rotates from the maximum flexion angle to zero. At this stage, the thigh swings back, the stroke stop  21  is slightly rotated back, and the pawl  33  is pressed, so that the pawl  33  engages with the ratchet wheel  20  to lock. The pawl rope  11  is gradually stretched to an initial tension state, and the tension spring  3  is shortened to release energy and assist the positive work of the hip joint. 
     Fifth stage: the knee joint rotates slightly, and the hip joint rotates from zero to the maximum extension angle. At this stage, the thigh swings back, the pawl rope  11  is tightened and the pawl  33  is pulled apart, so that the pawl  33  is disengaged from the ratchet wheel  20  and the stroke stop  21  is lifted off. The stroke stop  21  and the ratchet wheel  20  have a restoring force under the action of the wire wheel torsion spring  29 , the spring connecting rope  5  between the wire wheel  22  and the tension spring  3  is in a relaxed state, the spring connecting rope  5  between the shank rear hoop  7  and the wire wheel  22  is in a tight state, and the tension spring  3  is in a free state. 
     In the present disclosure, through combining the movement law and the work characteristic of the knee joint and the hip joint during walking and utilizing the high-efficiency springs as the elastic external tendons of the human body, the tension spring is stretched to store the energy when the knee joint does the negative work, and shrinks to release the energy when the hip joint does the positive work by virtue of a clutch triggered by the angles of the hip and knee joints, so that the knee joint energy can be transferred to the hip joint through an external device to assist the movements of both the knee joint and the hip joint, thereby improving the utilization efficiency of the energy and reducing the metabolic energy consumption of walking. 
     It should be readily understood to those skilled in the art that the above description is only preferred embodiments of the present disclosure, and does not limit the scope of the present disclosure. Any change, equivalent substitution and modification made without departing from the spirit and scope of the present disclosure should be included within the scope of the protection of the present disclosure.