# US 11,298,285 B2 · Ankle exoskeleton system and method for assisted mobility and rehabilitation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,298,285 B2 - Document ID: US11298285B2 - Status: Granted - Kind: B2 - Application number: 16/353,133 - Filed: 2019-03-14 - Published: 2019-09-19 - Granted: 2022-04-12 - Earliest claimed: 2018-03-16 - Assignees: Arizona Board of Regents On Behalf of Northern Arizona University - Applicants: Arizona Board of Regents on Behalf of Northern Arizona University - Inventors: Zachary F Lerner - Web page: https://patentgrep.com/patent/US11298285B2 ## CPC - A61H 1/00: Apparatus for passive exercising (A61H5/00 takes precedence); Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones - A61H 1/0266: {Foot} - 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}) - A61H 2003/001: {on steps or stairways} - A61H 2003/007: {secured to the patient, e.g. with belts} - A61H 2201/0192: Specific means for adjusting dimensions - A61H 2201/1207: with electric or magnetic drive - A61H 2201/1215: Rotary drive - A61H 2201/14: Special force transmission means, i.e. between the driving means and the interface with the user - A61H 2201/1628: Pelvis - A61H 2201/1642: Holding means therefor - A61H 2201/165: Wearable interfaces - A61H 2201/5007: computer controlled - A61H 2201/5023: Interfaces to the user - A61H 2201/5058: Sensors or detectors - A61H 2201/5061: Force sensors - A61H 2201/5071: Pressure sensors - A61H 2201/5084: Acceleration sensors - A61H 2203/0406: Standing on the feet - A61H 2205/106: for the lower legs - A61H 2205/12: Feet - 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) ## Abstract A powered exoskeleton is designed to provide assistance to a user, where the powered exoskeleton may have power-generating elements in one location and power-applying elements in another location, so that a user can easily wear the powered exoskeleton. ## Claims ### Claim 1 A device, comprising: a motor; a force-transmitting linkage, mechanically coupled to the motor, wherein the force transmitting linkage comprises a first cable and a second cable coupled to the motor such that the motor applies tension to the first cable when rotating in a first direction and applies tension to the second cable when rotating in a second direction; a lower assembly including a joint mechanically coupled to the first and second cables, such that the joint experiences torque in a first direction upon application of tension to the first cable and experiences torque in a second direction upon application of tension to the second cable, the lower assembly being configured to engage a foot of a user; a controller, communicably coupled to the motor, wherein the controller is configured to transmit an instruction to the motor; and a sensor coupled to the lower assembly and communicably coupled to the controller, wherein the sensor is configured to detect motion or force of the joint; wherein the controller is configured to receive data from the sensor, and wherein the controller is configured to use the data to determine the instruction to be transmitted to the motor wherein the force-transmitting linkage includes a Bowden cable, and wherein the Bowden cable is adapted to have a length which is substantially matched to a length of a leg of the user, such that when the leg is straight the Bowden cable is substantially straight between the lower assembly and the motor, and such that when the Bowden cable is straight the Bowden cable acts to partially support the weight of the device by providing resistance to compressive force between lower assembly and the motor. ### Claim 2 (depends on 1) The device of claim 1, wherein the joint includes a first arm, a second arm, and a rotational bearing coupled to the first arm and the second arm, the first arm is configured to be coupled to a lower leg by a cuff, and the second arm is configured to be coupled to a foot plate, a shoe, or a cam beneath the user's foot. ### Claim 3 (depends on 2) The device of claim 2, wherein the sensor is a pressure sensor, which generates a pressure measurement value; and wherein, when the pressure measurement value is greater than a threshold pressure measurement value, the controller is configured to cause the motor to apply a force along a length of the force-transmitting linkage in a first direction. ### Claim 4 (depends on 3) The device of claim 3, further comprising a second sensor, wherein the second sensor is a torque sensor coupled to the rotational bearing, which generates a torque measurement value, and wherein an amount of force applied by the motor along a length of the force-transmitting linkage in a first direction is at least partially determined by the torque measurement value. ### Claim 5 (depends on 3) The device of claim 3, wherein, when pressure measurement value less than the threshold pressure measurement value, the controller is configured to cause the motor to apply a force along the length of the force-transmitting linkage in a second direction. ### Claim 6 (depends on 3) The device of claim 3, wherein, when the pressure measurement value less than the threshold pressure measurement value, the controller is configured to prevent the motor from applying force along a length of the cable. ### Claim 7 (depends on 1) The device of claim 1, further comprising a disengagement mechanism configured to selectively disconnect the force-transmitting linkage from the lower assembly or the motor. ### Claim 8 (depends on 1) The device of claim 1, further comprising a housing and wherein the motor is disposed within the housing and the housing is configured to be worn proximate a waist of the user.