# US 10,118,291 B2 · Robotic systems for supporting a user > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,291 B2 - Document ID: US10118291B2 - Status: Granted - Kind: B2 - Application number: 15/455,517 - Filed: 2017-03-10 - Published: 2017-09-14 - Granted: 2018-11-06 - Earliest claimed: 2016-03-10 - Assignees: Massachusetts Institute of Technology - Applicants: Massachusetts Institute of Technology - Inventors: Haruhiko Harry Asada; Daniel A. Kurek - Web page: https://patentgrep.com/patent/US10118291B2 ## CPC - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - G05B 2219/40305: Exoskeleton, human robot interaction, extenders - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract Robotic systems for supporting a human in stationary and/or mobile applications and related methods of operation are described. ## Claims ### Claim 1 A robotic system for supporting a user, the robotic system comprising: two or more actuated robotic limbs configured to be attached to a user's torso and to bear at least a portion of the user's weight when the user is in a first position; one or more sensors configured to detect movement of the user; and a controller operatively coupled to the two or more robotic limbs and the one or more sensors, wherein in response to the one or more sensors detecting movement of the user away from the first position, the controller controls the two or more robotic limbs to apply a restoring force to the user, wherein the restoring force is directed towards the first position. ### Claim 2 (depends on 1) The robotic system of claim 1, wherein the controller determines a magnitude of the restoring force based on a distance of the movement of the user away from the first position and/or a velocity of the movement away from the first position. ### Claim 3 (depends on 1) The robotic system of claim 1, wherein the controller determines a magnitude of the restoring force based on a direction of the movement of the user away from the first position. ### Claim 4 (depends on 1) The robotic system of claim 1, wherein a portion of the user's lower body is in contact with a surface when the user is supported by the robotic system, and wherein the one or more sensors includes at least one sensor configured to be positioned on the portion of the user's lower body. ### Claim 5 (depends on 1) The robotic system of claim 1, wherein in response to the one or more sensors detecting movement of the user away from the first position greater than a movement threshold, the controller actuates the two or more robotic limbs to move to support the user in a second position. ### Claim 6 (depends on 5) The robotic system of claim 5, wherein the movement threshold is an absolute distance threshold and/or a stability threshold. ### Claim 7 A method of operating a robotic system for supporting a user, the method comprising: setting a first position for a user supported by a robotic system, the robotic system comprising two or more actuated robotic limbs configured to be attached to the user's torso and to bear at least a portion of the user's weight when the user is in the first position; detecting movement of the user away from the first position; and applying a restoring force to the user with the two or more robotic limbs in response to the detected movement of the user away from the first position, wherein the restoring force is directed towards the first position. ### Claim 8 (depends on 7) The method of claim 7, further comprising determining a magnitude of the restoring force based on a distance of the movement of the user away from the first position and/or a velocity of the movement away from the first position. ### Claim 9 (depends on 7) The method of claim 7, further comprising determining a magnitude of the restoring force based on a direction of the movement of the user away from the first position. ### Claim 10 (depends on 7) The method of claim 7, further comprising detecting movement of the user away from the first position greater than a movement threshold; and moving the two or more robotic limbs to support the user in a second position. ### Claim 11 (depends on 7) The method of claim 7, further comprising setting a desired movement impedance in at least one direction. ### Claim 12 (depends on 11) The method of claim 11, further comprising adjusting the restoring force based on the desired movement impedance. ### Claim 13 A robotic system for supporting a user, the robotic system comprising: two or more robotic limbs configured to be attached to a user's torso and to support bear at least a portion of the user's weight; a user sensor configured to detect a spatial state of the user relative to the two or more robotic limbs; and a controller operatively coupled to the two or more robotic limbs and the user sensor, wherein the controller predicts a user movement based on the spatial state of the user and controls at least one robotic limb of the two or more robotic limbs to move from a first position to a second position based on the predicted user movement. ### Claim 14 (depends on 13) The robotic system of claim 13, further comprising a robot sensor configured to detect a spatial state of the two or more robotic limbs. ### Claim 15 (depends on 13) The robotic system of claim 13, wherein the two or more robotic limbs include a first robotic limb positioned at a first side of the user's torso and a second robotic limb positioned at a second side of the user's torso opposite the first side. ### Claim 16 (depends on 13) The robotic system of claim 13, wherein the user movement is a crawling movement. ### Claim 17 (depends on 13) The robotic system of claim 13, wherein the controller uses a partial least squares regression algorithm and/or a support vector machine algorithm to predict the user movement. ### Claim 18 (depends on 13) The robotic system of claim 13, wherein the robotic system maintains a center of mass of the user within a stability region during movement of the at least one robotic limb from the first position to the second position. ### Claim 19 A method of operating a robotic system for supporting a user, the method comprising: sensing a spatial state of a user relative to a robotic system, the robotic system comprising two or more robotic limbs configured to be attached to the user's torso and to bear at least a portion of the user's weight; predicting a user movement based on the spatial state of the user; and controlling at least one robotic limb of the two or more robotic limbs to move from a first position to a second position based on the predicted user movement. ### Claim 20 (depends on 19) The method of claim 19, further comprising sensing a spatial state of the robotic system. ### Claim 21 (depends on 19) The method of claim 19, wherein the user movement is a crawling movement. ### Claim 22 (depends on 19) The method of claim 19, wherein predicting the user movement includes performing a partial least squares regression analysis and/or a support vector machine analysis. ### Claim 23 (depends on 19) The method of claim 19, further comprising determining a stability area; and maintaining a center of mass of the user within the stability area during movement of the at least one robotic limb from the first position to the second position. ### Claim 24 A robotic system comprising: a harness wearable by a user on at least a portion of the user's torso; a first robotic limb attached to the harness, the first robotic limb extending from a first side of the harness; a second robotic limb attached to the harness, the second robotic limb extending from a second side of the harness opposite the first side of the harness, wherein the first and second robotic limbs are configured to bear at least a portion the user's weight and to support at least a portion of the user's body at a position above a surface; a first actuator operatively coupled to the harness and the first robotic limb, the first actuator configured to move the first robotic limb relative to the harness; and a second actuator operatively coupled to the harness and the second robotic limb, the second actuator configured to move the second robotic limb relative to the harness. ### Claim 25 (depends on 24) The robotic system of claim 24, further comprising one or more user sensors configured to be attached to the user and to detect a position and/or a movement of a portion of the user's body. ### Claim 26 (depends on 25) The robotic system of claim 25, further comprising one or more robot sensors associated with each of the first and second robotic limbs and configured to detect a position of the first and second robotic limbs and/or forces acting on the first and second robotic limbs. ### Claim 27 (depends on 26) The robotic system of claim 26, further comprising a controller operatively coupled to the first and second actuators, the one or more user sensors, and the one or more robot sensors, the controller configured to selectively actuate the first and second actuators based on input detected from the one or more user sensors and/or the one or more robot sensors. ### Claim 28 (depends on 26) The robotic system of claim 26, wherein the one or more user sensors and one or more robot sensors comprise at least one selected from the group of an inertial measurement unit, a force sensor, and a pressure sensor. ### Claim 29 (depends on 24) The robotic system of claim 24, wherein each actuator of the first and second actuators has two rotational degrees of freedom. ### Claim 30 (depends on 24) The robotic system of claim 24, wherein each of the first and second robotic limbs are telescoping robotic limbs that include a first limb portion and a second limb portion that telescopes out from the first limb portion.