# US 10,245,204 B2 · Devices and methods for improving the utility of an exoskeleton mobility base

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- Number: US 10,245,204 B2
- Document ID: US10245204B2
- Status: Granted
- Kind: B2
- Application number: 15/260,577
- Filed: 2016-09-09
- Published: 2017-03-16
- Granted: 2019-04-02
- Earliest claimed: 2015-09-11
- Assignees: Ekso Bionics, Inc.
- Applicants: Ekso Bionics, Inc.
- Inventors: Reuben Sandler; Renata Smith; Chris Meadows; Rochelle Rea; Jared Jones; Matt Sweeney
- Web page: https://patentgrep.com/patent/US10245204B2

## CPC

- A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003})
- A61G 5/066: {with endless belts}
- A61G 5/14: Standing-up or sitting-down aids
- A61G 7/10: Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61H 1/024: {Knee (A61H1/0255 takes precedence)}
- A61H 1/0244: {Hip (A61H1/0255 takes precedence)}
- A61H 1/0255: {Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane (A61H1/0214 takes precedence)}
- A61H 1/0274: {for the upper limbs}
- A61H 3/04: Wheeled walking aids for patients or disabled persons
- H01M 50/247: specially adapted for portable devices, e.g. mobile phones, computers, hand tools or pacemakers
- H01M 50/296: characterised by terminals of battery packs (terminals of batteries H01M50/543)
- A61G 5/1054: {Large wheels, e.g. higher than the seat portion}
- A61H 2201/0107: modular
- A61H 2201/163: holding means therefor
- A61H 2201/1635: Hand or arm, e.g. handle
- A61H 2201/1642: Holding means therefor
- Y02E 60/10: Energy storage using batteries
- A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N)
- A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00)
- H01M: PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- Y02E: REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION

## Abstract

A mobility system includes an energy module, an exoskeleton and a mobile base. The exoskeleton has an exoskeleton energy module receptacle that can receive the energy module, and the mobile base has a mobile base energy module receptacle that can also receive the energy module. In addition, the mobile base has an exoskeleton support that can support the exoskeleton on the mobile base so that the mobile base can transport the exoskeleton across a support surface.

## Claims

### Claim 1

A mobility system comprising:
an energy module;
an exoskeleton including an exoskeleton energy module receptacle configured to receive the energy module; and
a mobile base configured to transport the exoskeleton across a support surface, the mobile base including an exoskeleton support configured to support the exoskeleton on the mobile base and a mobile base energy module receptacle configured to receive the energy module, wherein a range of the exoskeleton is extendable by uncoupling the energy module from the mobile base energy module receptacle and coupling the energy module to the exoskeleton energy module receptacle.

### Claim 2 (depends on 1)

The mobility system of claim 1, wherein at least one of the exoskeleton and mobile base energy module receptacles includes an automated energy module transfer mechanism configured to automatically transfer the energy module between the exoskeleton and mobile base energy module receptacles.

### Claim 3 (depends on 1)

The mobility system of claim 1, wherein:
the exoskeleton energy module receptacle is configured to automatically and selectively couple the energy module thereto; and
the mobile base energy module receptacle is configured to automatically and selectively couple the energy module thereto.

### Claim 4 (depends on 3)

The mobility system of claim 3, wherein:
the exoskeleton further includes an exoskeleton control system configured to control coupling of the energy module to the exoskeleton energy module receptacle; and
the mobile base further includes a mobile base control system configured to control coupling of the energy module to the mobile base energy module receptacle.

### Claim 5 (depends on 4)

The mobility system of claim 4, wherein the exoskeleton and mobile base control systems are configured to coordinate whether the energy module is coupled to the exoskeleton energy module receptacle or the mobile base energy module receptacle.

### Claim 6 (depends on 5)

The mobility system of claim 5, wherein:
the exoskeleton is configured to determine a remaining power of the energy module when the energy module is received in the exoskeleton energy module receptacle;
the mobile base is further configured to determine the remaining power of the energy module when the energy module is received in the mobile base energy module receptacle; and
the exoskeleton and mobile base control systems are configured to coordinate whether the energy module is coupled to the exoskeleton energy module receptacle or the mobile base energy module receptacle based on the remaining power of the energy module.

### Claim 7 (depends on 1)

The mobility system of claim 1, wherein:
the exoskeleton further includes an exoskeleton power system;
the exoskeleton further includes actuators configured to cause movement of the exoskeleton;
the exoskeleton energy module receptacle is configured to transfer power from the energy module to the exoskeleton power system when the energy module is received in the exoskeleton energy module receptacle; and
the exoskeleton power system is configured to transfer power to the actuators.

### Claim 8 (depends on 7)

The mobility system of claim 7, wherein:
the mobile base further includes a mobile base power system;
the mobile base further includes propulsive motors configured to cause movement of the mobile base across the support surface;
the mobile base energy module receptacle is configured to transfer power from the energy module to the mobile base power system when the energy module is received in the mobile base energy module receptacle; and
the mobile base power system is configured to transfer power to the propulsive motors.

### Claim 9 (depends on 8)

The mobility system of claim 8, wherein:
the mobile base is further configured to receive power from an external energy supply; and
the mobile base energy module receptacle is further configured to transfer power to the energy module when the energy module is received in the mobile base energy module receptacle, thereby charging the energy module.

### Claim 10 (depends on 9)

The mobility system of claim 9, wherein:
the exoskeleton is configured to receive power from the mobile base; and
the exoskeleton energy module receptacle is further configured to transfer power to the energy module when the energy module is received in the exoskeleton energy module receptacle, thereby charging the energy module.

### Claim 11 (depends on 10)

The mobility system of claim 10, wherein the exoskeleton is further configured to transfer power to the mobile base.

### Claim 12 (depends on 9)

The mobility system of claim 9, wherein the mobile base further includes a docking interface configured to connect to a docking port, wherein the docking port is configured to receive power from the external energy supply and transfer the energy to the mobile base through the docking interface when the docking interface is connected to the docking port.

### Claim 13 (depends on 9)

The mobility system of claim 9, wherein the external energy supply is an electric generator mounted on the mobile base.

### Claim 14 (depends on 1)

The mobility system of claim 1, further comprising a central server, wherein the mobile base further includes a mobile base control system configured to receive data from the central server and cause movement of the mobile base based on the data.

### Claim 15 (depends on 1)

The mobility system of claim 1, wherein:
the exoskeleton further includes an exoskeleton control system; and
the mobile base further includes a mobile base control system configured to receive data from the exoskeleton control system and cause movement of the mobile base based on the data.

### Claim 16 (depends on 15)

The mobility system of claim 15, wherein:
the exoskeleton further includes a user interface configured to receive commands from a user and pass the commands to the mobile base control system through the exoskeleton control system; and
the mobile base control system is configured to cause movement of the mobile base based on the commands.

### Claim 17 (depends on 1)

The mobility system of claim 1, further comprising a wheelchair accessible vehicle including a wheelchair accessible vehicle power system and a docking port configured to connect the mobile base to the wheelchair accessible vehicle, wherein:
the mobile base further includes a mobile base power system
the docking port is configured to transfer power from the wheelchair accessible vehicle power system to the mobile base power system; and
the mobile base energy module receptacle is further configured to transfer power from the mobile base power system to the energy module when the energy module is received in the mobile base energy module receptacle, thereby charging the energy module.

### Claim 18 (depends on 1)

The mobility system of claim 1, wherein the energy module is a battery.

### Claim 19 (depends on 1)

The mobility system of claim 1, wherein the exoskeleton is an ambulatory exoskeleton including a foot support, a lower leg support, an upper leg support, a leg brace, a torso brace, a knee actuator and a hip actuator.

### Claim 20 (depends on 19)

The mobility system of claim 19, wherein the ambulatory exoskeleton further includes a back support, and the back support includes the exoskeleton energy module receptacle.

### Claim 21 (depends on 1)

The mobility system of claim 1, wherein the mobile base further includes a wheel configured to contact the support surface, and rotation of the wheel causes movement of the mobile base across the support surface.

### Claim 22 (depends on 1)

The mobility system of claim 1, wherein the mobile base further includes a track configured to contact the support surface, and movement of the track causes movement of the mobile base across the support surface.

### Claim 23 (depends on 22)

The mobility system of claim 22, wherein the mobile base is configured to transport the exoskeleton across the support surface while the exoskeleton is in a standing position.

### Claim 24 (depends on 1)

The mobility system of claim 1, wherein:
the exoskeleton energy module receptacle is configured to receive a plurality of energy modules; and
the mobile base energy module receptacle is configured to receive a plurality of energy modules.

### Claim 25

A method of extending a range of an exoskeleton with a mobile base including an exoskeleton support configured to support the exoskeleton on the mobile base, the mobile base being configured to transport the exoskeleton across a support surface, the method comprising:
uncoupling an energy module from a mobile base energy module receptacle of the mobile base; and
coupling the energy module to an exoskeleton energy module receptacle of the exoskeleton.

### Claim 26 (depends on 25)

The method of claim 25, further comprising automatically transferring the energy module between the exoskeleton and mobile base energy module receptacles with an automated energy module transfer mechanism.

### Claim 27 (depends on 25)

The method of claim 25, wherein:
uncoupling the energy module from the mobile base energy module receptacle includes automatically uncoupling the energy module from the mobile base energy module receptacle with the mobile base energy module receptacle; and
coupling the energy module to the exoskeleton energy module receptacle includes automatically coupling the energy module to the exoskeleton energy module receptacle with the exoskeleton energy module receptacle.

### Claim 28 (depends on 27)

The method of claim 27, further comprising:
controlling coupling of the energy module to the mobile base energy module receptacle with a mobile base control system of the mobile base; and
controlling coupling of the energy module to the exoskeleton energy module receptacle with an exoskeleton control system of the exoskeleton.

### Claim 29 (depends on 28)

The method of claim 28, further comprising coordinating whether the energy module is coupled to the mobile base energy module receptacle or the exoskeleton energy module receptacle with the exoskeleton and mobile base control systems.

### Claim 30 (depends on 29)

The method of claim 29, further comprising:
determining a remaining power of the energy module with the exoskeleton or the mobile base; and
coordinating whether the energy module is coupled to the mobile base energy module receptacle or the exoskeleton energy module receptacle based on the remaining power of the energy module.

### Claim 31 (depends on 25)

The method of claim 25, wherein the exoskeleton further includes an exoskeleton power system and actuators configured to cause movement of the exoskeleton, the method further comprising:
transferring power from the energy module to the exoskeleton power system with the exoskeleton energy module receptacle; and
transferring power to the actuators with the exoskeleton power system.

### Claim 32 (depends on 31)

The method of claim 31, wherein the mobile base further includes a mobile base power system and propulsive motors configured to cause movement of the mobile base across the support surface, the method further comprising:
transferring power from the energy module to the mobile base power system with the mobile base energy module receptacle; and
transferring power to the propulsive motors with the mobile base power system.

### Claim 33 (depends on 32)

The method of claim 32, further comprising:
transferring power from an external energy supply to the mobile base; and
transferring power to the energy module with the mobile base energy module receptacle, thereby charging the energy module.

### Claim 34 (depends on 33)

The method of claim 33, further comprising:
transferring power from the mobile base to the exoskeleton; and
transferring power to the energy module with the exoskeleton energy module receptacle, thereby charging the energy module.

### Claim 35 (depends on 34)

The method of claim 34, further comprising transferring power from the exoskeleton to the mobile base.

### Claim 36 (depends on 33)

The method of claim 33, wherein the mobile base further includes a docking interface configured to connect to a docking port, the method further comprising:
transferring power from the external energy supply to the mobile base through the docking interface with the docking port.

### Claim 37 (depends on 33)

The method of claim 33, wherein transferring power from the external energy supply to the mobile base includes transferring power to the mobile base from an electric generator mounted on the mobile base.

### Claim 38 (depends on 25)

The method of claim 25, further comprising:
transferring data from a central server to a mobile base control system of the mobile base; and
causing movement of the mobile base based on the data.

### Claim 39 (depends on 25)

The method of claim 25, further comprising:
transferring data from an exoskeleton control system of the exoskeleton to a mobile base control system of the mobile base; and
causing movement of the mobile base based on the data.

### Claim 40 (depends on 39)

The method of claim 39, further comprising:
receiving commands from a user with a user interface of the exoskeleton;
passing the commands to the mobile base control system through the exoskeleton control system; and
causing movement of the mobile base based on the commands.

### Claim 41 (depends on 25)

The method of claim 25, further comprising:
transferring power from a wheelchair accessible vehicle power system of a wheelchair accessible vehicle to a mobile base power system of the mobile base with a docking port of the wheelchair accessible vehicle; and
transferring power from the mobile base power system to the energy module with the mobile base energy module receptacle, thereby charging the energy module.

### Claim 42 (depends on 25)

The method of claim 25, wherein the energy module constitutes a first energy module, the method further comprising:
uncoupling a second energy module from the exoskeleton energy module receptacle; and
coupling the second energy module to the mobile base energy module receptacle.

### Claim 43 (depends on 25)

The method of claim 25, further comprising:
transferring power to the energy module while the energy module is coupled to the mobile base energy module receptacle; and
transferring power from the energy module to the exoskeleton while the energy module is coupled to the exoskeleton energy module receptacle.