US 10,327,975 B2 · Reconfigurable exoskeleton

Abstract

An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.

Claims34

Dependent claims

A lower extremity exoskeleton, configurable to be coupled to a person having distinctive right and left side body capabilities, said lower extremity exoskeleton comprising:

asymmetrically controlled right and left leg supports configured to be coupled to the person's lower limbs, wherein each said leg support is configured to rest on the ground during a stance phase and includes a thigh link and a shank link interconnected by a knee joint;
and
an asymmetrically controlled exoskeleton torso configured to be coupled to the person's upper body and rotatably connected to each of said thigh links of said leg supports through respective sagittal hip joints;
and
a first torque modifier coupled across the knee joint of one of the right and left leg supports;
and
a second torque modifier coupled to the hip joint of the one of the right and left leg supports, wherein the first and second torque modifiers provide for distinct regulation of right and left side portions of the lower extremity exoskeleton to compensate for the distinctive right and left side body capabilities of the person, wherein another of the right and left leg supports includes a brake configured to resist flexion about a respective said knee joint during the stance phase.

4 more elements

A method of controlling a lower extremity exoskeleton which is configurable to be coupled to a person having distinctive right and left side body capabilities and includes asymmetrically controlled right and left leg supports configured to be coupled to the person's lower limbs, wherein each said leg support is configured to rest on the ground during a stance phase and includes a thigh link and a shank link interconnected by a knee joint and an asymmetrically controlled exoskeleton torso configured to be coupled to the person's upper body and rotatably connected to each of said thigh links of said leg supports through respective sagittal hip joints, said method comprising:

regulating a first torque modifier coupled across the knee joint of one of the right and left leg supports and a second torque modifier coupled to the hip joint of the one of the right and left leg supports such that the first and second torque modifiers provide for distinct regulation of right and left side portions of the lower extremity exoskeleton to compensate for the distinctive right and left side body capabilities of the person, wherein the knee joint and the hip joint of another of the right and left leg supports is void of associated torque modifiers.

A method of controlling a lower extremity exoskeleton configurable to be coupled to a person and including:

first and second leg supports configurable to be coupled to said person's lower limbs, wherein each said leg support comprises a thigh link and a shank link;
two knee joints, each configured to allow flexion and extension between the respective shank link and the respective thigh link;
an exoskeleton torso configurable to be coupled to said person's upper body, rotatably connectable to said thigh links of said leg supports through sagittal hip joints, said sagittal hip joints allowing for flexion and extension between said leg supports and said exoskeleton torso;
two torque generators coupled to said knee joints;
two torque generators coupled to said sagittal hip joints;
a plurality of sensors for monitoring the orientation of said exoskeleton;
and a controller in communication with said sensors and said torque generators, said method comprising:
sending signals from the plurality of sensors to the controller;
and
regulating the torque generators of the first leg support in a first mode to follow a series of orientations collectively reproducing a natural human motion, while regulating the torque generators of the second leg support in a second mode to minimize resistance of the second leg support to movements of the person, whereby the exoskeleton regulates motion of only one lower limb of the person.

7 more elements

Dependencies are inferred from the claim text.

Reconfigurable exoskeleton

Life of this patent

Reconfigurable exoskeleton

Life of this patent

Abstract

Claims34