# US 11,304,827 B2 · Unidirectional actuated exoskeleton device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,827 B2 - Document ID: US11304827B2 - Status: Granted - Kind: B2 - Application number: 16/295,472 - Filed: 2019-03-07 - Published: 2020-01-23 - Granted: 2022-04-19 - Earliest claimed: 2016-10-13 - Assignees: Dephy, Inc. - Applicants: Dephy, Inc. - Inventors: Luke Mooney; Jean-Francois Duval - Web page: https://patentgrep.com/patent/US11304827B2 ## CPC - A61F 2/6607: {Ankle joints} - A61F 2/70: electrical - A61F 5/01: Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces - A61H 1/024: {Knee (A61H1/0255 takes precedence)} - A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)} - 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}) - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - A61B 5/4528: {Joints (A61B5/4533, A61B5/4538 take precedence)} - A61F 2002/503: {for adjusting elasticity, flexibility, spring rate or mechanical tension} - A61F 2002/607: {Lower legs} - A61F 2002/701: {operated by electrically controlled means, e.g. solenoids or torque motors} - A61H 2003/007: {secured to the patient, e.g. with belts} - A61H 2201/0134: Cushion or similar support - A61H 2201/0192: Specific means for adjusting dimensions - 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 2201/1418: Cam - A61H 2201/1642: Holding means therefor - A61H 2201/1671: rotational - A61H 2201/1676: Pivoting - A61H 2201/50: Control means thereof - A61H 2201/5058: Sensors or detectors - A61H 2201/5061: Force sensors - A61H 2201/5069: Angle sensors - A61H 2201/5097: wireless - A61H 2205/10: Leg - A61H 2205/102: Knee - 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) - 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) - 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}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract The present invention is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The present invention provides a mechanical joint in parallel with a biological joint. The exoskeleton device preferably includes and electric motor and winch, chain, belt, cam transmission or other mechanism for providing unidirectional force to assist rotation about the biologic joint. Moreover, a controller, a motor angle sensor, joint angle sensor and/or force sensor may be used for additional control and monitoring of the device. The motor may be any type of motor, but is preferably brushless in configuration where its diameter is larger than its length to provide a compact and lightweight exoskeleton device. ## Claims ### Claim 1 A composite foot plate for footwear, comprising: a footplate integrated into a sole of the footwear; an outer sole located between the footplate and ground; an inner sole located above the footplate; the footplate extending upward only from one lateral most side surface of the footwear; the footplate being made of composite material with fibers in a plurality of orientations and is flexible at a metatarsal joint region; the footplate being varied in thickness, and a mechanical joint disposed on the footplate, the mechanical joint is configured and arranged for plantar flexion, dorsiflexion, eversion and inversion of the footplate relative to a shank of a user. ### Claim 2 (depends on 1) The composite foot plate for footwear of claim 1, wherein the mechanical joint includes an upstanding portion which is flexible to allow for misalignment and eversion/inversion. ### Claim 3 (depends on 2) The composite foot plate for footwear of claim 2, wherein the upstanding portion includes a lever arm that interacts with an exoskeleton actuator. ### Claim 4 (depends on 1) The composite foot plate for footwear of claim 1, wherein the mechanical joint includes a first joint with an axis of rotation configured to be perpendicular to a sagittal plane of the user, and a second joint with an axis of rotation configured to be perpendicular to the axis of rotation of the first joint. ### Claim 5 (depends on 4) The composite foot plate for footwear of claim 4, wherein the mechanical joint includes an upstanding portion which is flexible to allow for misalignment and eversion/inversion, and wherein the upstanding portion includes a lever arm that interacts with an exoskeleton actuator. ### Claim 6 (depends on 1) The composite foot plate for footwear of claim 1, wherein the footplate is made of a material selected from the group consisting of unidirectional carbon fiber, twill weave carbon fiber, and/or plain weave carbon fiber. ### Claim 7 (depends on 1) The composite foot plate for footwear of claim 1, wherein the footplate further includes embedded sensors selected from the group consisting of force sensors, pressure sensors, strain sensors, IMU sensor, humidity or liquid sensor, and temperature sensors. ### Claim 8 A composite foot plate for footwear, comprising: a footplate integrated into a sole of the footwear; an outer sole located between the footplate and ground; an inner sole located above the footplate; the footplate extending upward on the lateral side of the footwear; the footplate being made of composite material with fibers in a plurality of orientations and is flexible at a metatarsal joint region; the footplate being varied in thickness, and a mechanical joint disposed on the footplate, the mechanical joint is configured and arranged for plantar flexion, dorsiflexion, eversion and inversion of the footplate relative to a shank of a user, the-mechanical joint includes, an ankle dorsiflexion/planar-flexion joint with an axis of rotation configured to be perpendicular to a sagittal plane of the user, and an ankle eversion/inversion joint with an axis of rotation configured to be perpendicular to the axis of rotation of the first joint, wherein the ankle eversion/inversion joint is proximal the sole of the footwear and the ankle dorsiflexion/planar-flexion joint is proximal to the ankle eversion/inversion joint. ### Claim 9 (depends on 8) The composite foot plate for footwear of claim 8, wherein the-mechanical joint includes an upstanding portion which is flexible to allow for misalignment and eversion/inversion. ### Claim 10 (depends on 9) The composite foot plate for footwear of claim 9, wherein the upstanding portion includes a lever arm that interacts with an exoskeleton actuator. ### Claim 11 (depends on 8) The composite foot plate for footwear of claim 8, wherein the footplate is made of a material selected from the group consisting of unidirectional carbon fiber, twill weave carbon fiber, and/or plain weave carbon fiber. ### Claim 12 (depends on 8) The composite foot plate for footwear of claim 8, wherein the footplate further includes embedded sensors selected from the group consisting of force sensors, pressure sensors, strain sensors, IMU sensor, humidity or liquid sensor, and temperature sensors. ### Claim 13 (depends on 8) The composite foot plate for footwear of claim 8, wherein the mechanical joint includes an upstanding portion which is flexible to allow for misalignment and eversion/inversion, and wherein the upstanding portion includes a lever arm that interacts with an exoskeleton actuator.