US 10,982,661 B2 · Single motor-generator two-joint harvester and augmenter

Abstract

A device that attaches to three body segments connected by two joints harvests energy selectively from one of the two joints using a single motor-generator. The device also selectively augments relative body segment motion about one of the two joints. Selection of the harvesting or generating mode depends on the user's preference. When in a particular mode, the device automatically selects which of the two joints to connect to the motor-generator in order to optimize the augmentation or harvesting. Depending on whether the user is on flat terrain, going up an incline or down a decline, the selection of the joint to be connected is different. Use of a single motor-generator and gearbox mounted near the knee reduces metabolic cost compared to the use of two motor-generators and gearboxes.

Claims19

Dependent claims

A device for harvesting energy from and augmenting motion of a first joint and a second joint of an animal body, wherein the first joint connects a first and a second body segment of the animal and the second joint connects the second and a third body segment of the animal, the device comprising:

a first brace which attaches to the first body segment, a second brace which attaches to the second body segment, and a third brace which attaches to the third body segment;
a motor-generator that is switchable between a harvesting mode and an augmentation mode;
and
a joint selector that has a first position and a second position, wherein:
the first position mechanically links the motor-generator to the first brace and the second brace so that relative rotation between the first brace and the second brace correlates with rotation of the motor-generator;
and
the second position mechanically links the motor-generator to the second brace and the third brace so that relative rotation between the second brace and the third brace correlates with rotation of the motor-generator.

4 more elements

A method for harvesting energy from and augmenting motion of a first joint and a second joint of an animal body, wherein the first joint connects a first and a second body segment of the animal and the second joint connects the second and a third body segment of the animal, the method comprising:

attaching a first brace to the first body segment, a second brace to the second body segment, and a third brace to the third body segment;
detecting, by one or more sensors, a grade of a terrain that the animal is traversing;
setting a motor-generator to an augmentation mode or a harvesting mode;
controlling, by a control module in response to the detected grade, the motor-generator and a joint selector that has a first position and a second position, wherein:
the first position mechanically links the motor-generator to the first brace and the second brace so that relative rotation between the first brace and the second brace correlates with rotation of the motor-generator;
and
the second position mechanically links the motor-generator to the second brace and the third brace so that relative rotation between the second brace and the third brace correlates with rotation of the motor-generator.

4 more elements

Dependencies are inferred from the claim text.

Single motor-generator two-joint harvester and augmenter

Life of this patent

Single motor-generator two-joint harvester and augmenter

Life of this patent

Abstract

Claims19