# US 11,110,025 B2 · Wearable robotic device

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- Number: US 11,110,025 B2
- Document ID: US11110025B2
- Status: Granted
- Kind: B2
- Application number: 16/360,724
- Filed: 2019-03-21
- Published: 2019-07-18
- Granted: 2021-09-07
- Earliest claimed: 2014-03-31
- Assignees: Parker-Hannifin Corporation
- Applicants: Parker-Hannifin Corporation
- Inventors: Ryan Farris; Mike Clausen; Edgar Wilson
- Web page: https://patentgrep.com/patent/US11110025B2

## 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})
- A61F 5/0102: {specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations}
- A61F 5/0111: {for the feet or ankles}
- A61H 1/024: {Knee (A61H1/0255 takes precedence)}
- A61H 1/0244: {Hip (A61H1/0255 takes precedence)}
- B25J 9/0006: {Exoskeletons, i.e. resembling a human figure}
- B25J 9/104: {with cables, chains or ribbons}
- B25J 9/1045: {comprising tensioning means}
- A61F 5/0123: {for the knees (A61F5/0106 takes precedence)}
- A61F 5/0127: {for the feet (A61F5/0111 takes precedence)}
- A61F 2005/0155: {with actuating means}
- A61H 2003/007: {secured to the patient, e.g. with belts}
- A61H 2201/0107: modular
- A61H 2201/0176: By stopping operation
- A61H 2201/0192: Specific means for adjusting dimensions
- A61H 2201/1215: Rotary drive
- A61H 2201/1628: Pelvis
- A61H 2201/164: Feet or leg, e.g. pedal
- A61H 2201/165: Wearable interfaces
- A61H 2201/5058: Sensors or detectors
- 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)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- 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})

## Abstract

A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.

## Claims

### Claim 1

A wearable robotic device comprising:
a removable, self-contained actuator cassette; and
a thigh assembly including a receptacle for receiving and retaining the removable, self-contained actuator cassette, wherein the removable, self-contained actuator cassette is removable from the receptacle as a unit;
wherein the removable, self-contained actuator cassette comprises:
a motor;
a drivetrain operatively coupled to and driven by the motor;
a housing supporting the motor and drivetrain; and
a connector protruding from and rotatable with respect to the housing and driven by the drivetrain;
wherein:
the housing comprises a top plate on which the motor is mounted and a bottom plate coupled to the top plate, and a drive shaft of the motor protrudes through an offset portion of the top plate;
the drivetrain is sandwiched between the top plate and the bottom plate;
the motor is mounted outside the top and bottom plates; and
the motor and the drivetrain are fixed to the housing to form the removable, self-contained actuator cassette that is removable as the unit relative to the receptacle of the thigh assembly.

### Claim 2 (depends on 1)

The wearable robotic device of claim 1, wherein the connector includes a first portion of a coupler connectable to a complementary second portion of the coupler of the wearable robotic device.

### Claim 3 (depends on 1)

The wearable robotic device of claim 1, wherein the removable, self-contained, actuator cassette has a depth measured along a rotational axis of the motor, and a width and a length that are measured orthogonal to the depth and to each other, and a maximum depth is less than a maximum width and a maximum length of the actuator cassette.

### Claim 4 (depends on 1)

The wearable robotic device of claim 1, wherein a rotational axis of the drivetrain is parallel to a rotational axis of the drive shaft of the motor.

### Claim 5 (depends on 1)

The wearable robotic device of claim 1, wherein long sides of the housing are straight, and the long sides are parallel with respect to each other and terminate at curved end surfaces of the housing.

### Claim 6 (depends on 1)

The wearable robotic device of claim 1, wherein the connector includes a coupler.