US 10,702,441 B2Granted

Ball screw and tensile member exoskeleton joint actuation device

AssigneeEkso Bionics, Inc.

InventorsAaron Julin, Mike Hughes

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Abstract

An exoskeleton includes first and second supports coupled to an exoskeleton wearer, a joint connecting the first support to the second support and an actuator. The actuator includes a ball screw, a ball nut assembly coupled to the ball screw and first and second tensile members. The ball nut assembly has first and second cord reactors. The first tensile member is routed through the first cord reactor, and the second tensile member is routed through the second cord reactor. Movement of the ball nut assembly along the ball screw in a first direction causes the second support to move relative to the first support in a first rotational direction about the joint. Movement of the ball nut assembly along the ball screw in a second direction causes the second support to move relative to the first support in a second rotational direction about the joint.

Claims20

Dependent claims

An exoskeleton comprising:

a first support configured to be coupled to an exoskeleton wearer;
a second support configured to be coupled to the exoskeleton wearer;
a joint interconnecting the first support and the second support;
and
an actuator including:
a ball screw;
a ball nut assembly coupled to the ball screw for movement along the ball screw;
and
at least two tensile members connected to the ball nut assembly such that first and second portions of the at least two tensile members extend from the ball nut assembly in a first direction and third and fourth portions of the at least two tensile members extend from the ball nut assembly in a second direction opposite the first direction, wherein the first and second portions are located on opposite sides of the ball screw from one another, wherein the third and fourth portions are located on opposite sides of the ball screw from one another, and wherein the actuator is configured such that:
movement of the ball nut assembly along the ball screw in the first direction causes the second support to move relative to the first support in a first rotational direction about the joint;
and
movement of the ball nut assembly along the ball screw in the second direction causes the second support to move relative to the first support in a second rotational direction about the joint.

9 more elements

An exoskeleton joint actuator for an exoskeleton including a first support configured to be coupled to an exoskeleton wearer, a second support configured to be coupled to the exoskeleton wearer and a joint connecting the first support to the second support, the actuator comprising:

a ball screw;
a ball nut assembly coupled to the ball screw for movement along the ball screw;
and
at least two tensile members connected to the ball nut assembly such that first and second portions of the at least two tensile members extend from the ball nut assembly in a first direction and third and fourth portions of the at least two tensile members extend from the ball nut assembly in a second direction opposite the first direction, wherein the first and second portions are located on opposite sides of the ball screw from one another, wherein the third and fourth portions are located on opposite sides of the ball screw from one another, and wherein the actuator is configured such that:
movement of the ball nut assembly along the ball screw in the first direction causes the second support to move relative to the first support in a first rotational direction about the joint;
and
movement of the ball nut assembly along the ball screw in the second direction causes the second support to move relative to the first support in a second rotational direction about the joint.

4 more elements

A method for causing movement of an exoskeleton including a first support coupled to an exoskeleton wearer, a second support coupled to the exoskeleton wearer, a joint connecting the first support to the second support and an actuator, the actuator including a ball screw, a ball nut assembly coupled to the ball screw and at least two tensile members, wherein the at least two tensile members are is connected to the ball nut assembly such that first and second portions of the at least two tensile members extend from the ball nut assembly in a first direction and third and fourth portions of the at least two tensile members extend from the ball nut assembly in a second direction opposite the first direction, wherein the first and second portions are located on opposite sides of the ball screw from one another, and wherein the third and fourth portions are located on opposite sides of the ball screw from one another, the method comprising:

moving the ball nut assembly along the ball screw in the first direction to cause the second support to move relative to the first support in a first rotational direction about the joint;
and
moving the ball nut assembly along the ball screw in the second direction to cause the second support to move relative to the first support in a second rotational direction about the joint.

Dependencies are inferred from the claim text.

Facts

Application: 15/499,078Filed 27 Apr 2017 · us provisional application
Priority: 4 May 2016
Published: US 2017/0319421 A19 Nov 2017
Granted: 7 Jul 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification14 codes

A61H 3/00
Appliances for aiding patients or disabled persons to walk about
B25J 9/0006
Program-controlled manipulators: exoskeletons, i.e. resembling a human figure
B25J 9/104
Characterised by positioning means for manipulator elements: with cables, chains or ribbons
A61H 2201/1207
Driving means: with electric or magnetic drive