# US 12,048,667 B2 · Use of a leg support exoskeleton > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,048,667 B2 - Document ID: US12048667B2 - Status: Granted - Kind: B2 - Application number: 17/646,326 - Filed: 2021-12-29 - Published: 2022-04-21 - Granted: 2024-07-30 - Earliest claimed: 2015-06-26 - Assignees: The Regents of the University of California; suitX, Inc. - Applicants: suitX, Inc.; The Regents of the University of California - Inventors: Wayne Tung; Minerva Pillai; Homayoon Kazerooni - Web page: https://patentgrep.com/patent/US12048667B2 ## 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}) - A61H 1/024: {Knee (A61H1/0255 takes precedence)} - A61H 2201/1207: with electric or magnetic drive - A61H 2201/1246: by piston-cylinder systems - A61H 2201/164: Feet or leg, e.g. pedal - A61H 2201/1642: Holding means therefor - A61H 2201/165: Wearable interfaces - A61H 2201/1652: Harness - A61H 2201/1676: Pivoting - A61H 2201/5007: computer controlled - A61H 2201/5061: Force sensors - A61H 2203/0406: Standing on the feet - A61H 2203/0418: Squatting, i.e. sitting on the heels - A61H 2205/102: Knee - 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 leg support exoskeleton is strapped on as a wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first link and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other. ## Claims ### Claim 1 An exoskeleton leg apparatus, having a first operational mode and a second operational mode two operational modes and configured to be coupled to a leg of a wearer, the exoskeleton leg apparatus comprising: a first link configured to move in unison with one of a shank and a thigh of the wearer; a second link, rotatably coupled to the first link and configured to move in unison with another one of the shank and the thigh of the wearer; and a force generator, comprising a first end and a second end, wherein the first end is coupled to one of the first link and the second link, wherein: during the first operational mode, the second end of the force generator gets latched to another one of the first link and the second link, when the first link and second link flex relative to each other thereby partially supporting a weight of the wearer, and during the second operational mode, the second end of the force generator is not latched to another one of the first link and the second link thereby allowing for unimpeded flexion and extension of the first link and second link relative to each other. ### Claim 2 (depends on 1) The exoskeleton leg apparatus of claim 1, further comprising a constraining mechanism, having at least a first operational mode and a second operational mode, wherein while the constraining mechanism is in the first operational mode, the second end of the force generator gets latched to another one of the first link and the second link, when the first link and second link flex relative to each other thereby partially supporting the wearer's weight, and while the constraining mechanism is in the second operational mode, the second end of the force generator is not latched to another one of the first link and the second link. ### Claim 3 (depends on 2) The exoskeleton leg apparatus of claim 2, further comprising an actuator configured to move the constraining mechanism between the first operational mode and the second operational mode. ### Claim 4 (depends on 3) The exoskeleton leg apparatus of claim 3, further comprising a stance sensor configured to generate a signal indicating the leg of the wearer contacting the ground, said signal initiating the actuator to move the constraining mechanism to the first operational mode. ### Claim 5 (depends on 3) The exoskeleton leg apparatus of claim 3, further comprising: a stance sensor, configured to generate a signal indicating the leg of the wearer contacting the ground, and a contralateral stance sensor on the contralateral leg configured to generate a signal indicating the contralateral leg of the wearer contacting the ground, wherein the signal from the stance sensor and the signal from the contralateral stance sensor indicate both legs are on the ground and initiate the actuator to move the constraining mechanism to the first operational mode thereby supporting the wearer during squatting. ### Claim 6 (depends on 3) The exoskeleton leg apparatus of claim 3, further comprising two stance sensors configured to generate two signals indicating two legs of the wearer contacting the ground, wherein said signals initiate the actuator to move the constraining mechanism to the first operational mode thereby supporting the wearer during the squatting motion. ### Claim 7 (depends on 3) The exoskeleton leg apparatus of claim 3, wherein the actuator is selected from the group consisting of a solenoid, a linear motor, an electric motor, a servo, a DC motors, a voice coil actuator, a piezoelectric actuator, a spring loaded solenoid, a spring loaded motor, and any combination of these. ### Claim 8 (depends on 2) The exoskeleton leg apparatus of claim 2, further comprising a manual tab having at least a first position and a second position and configured to be operable by the wearer, wherein: the manual tab moves the constraining mechanism to the first operational mode when the wearer moves the manual tab to the first position, and the manual tab moves the constraining mechanism to the second operational mode when the wearer moves the manual tab to the second position. ### Claim 9 (depends on 8) The exoskeleton leg apparatus of claim 8, wherein the manual tab is configured to slide on one of the first link and the second link between the first position and the second position. ### Claim 10 (depends on 8) The exoskeleton leg apparatus of claim 8, further comprising a magnet, wherein the magnet generates a magnetic force configured to move the constraining mechanism between the first operational mode and the second operational mode. ### Claim 11 (depends on 2) The exoskeleton leg apparatus of claim 2, where the constraining mechanism comprises a pawl, the pawl having at least a first operational position and a second operational position, wherein: while the pawl is in the first operational position, the second end of the force generator gets latched to the pawl when the first link and the second link flex relative to each other, and while the pawl is in the second operational position, the second end of the force generator is not latched to the pawl, and the first link and the second link are configured to freely flex and extend relative to each other. ### Claim 12 (depends on 11) The exoskeleton leg apparatus of claim 11, wherein the pawl is rotatably coupled to the exoskeleton leg apparatus. ### Claim 13 (depends on 11) The exoskeleton leg apparatus of claim 11, further comprising an actuator configured to move the pawl between a first position and a second position. ### Claim 14 (depends on 2) The exoskeleton leg apparatus of claim 2, wherein the constraining mechanism comprises: an indentation; and an indentation filler, coupled to another one of the first link and the second link and having at least a first operational position and a second operational position, wherein: while the indentation filler is in the first operational position, the indentation is not occupied by the indentation filler and the second end of the force generator engages the indentation when the first link and the second link flex relative to each other, and while the indentation filler is in the second operational position, the indentation is occupied by the indentation filler and the second end of the force generator does not engage the indentation and the first link and the second link are free to flex and extend relative to each other. ### Claim 15 (depends on 14) The exoskeleton leg apparatus of claim 14, further comprising an actuator configured to move the indentation filler between a first position and a second position. ### Claim 16 (depends on 2) The exoskeleton leg apparatus of claim 2, wherein the constraining mechanism is configured to be moved by the wearer between the first operational mode and the second operational mode. ### Claim 17 (depends on 2) The exoskeleton leg apparatus of claim 2, wherein the constraining mechanism is in the first operational mode when the leg of the wearer is on a ground. ### Claim 18 (depends on 1) The exoskeleton leg apparatus of claim 1, further comprising an actuator, configured to move the exoskeleton leg apparatus between the two operational modes. ### Claim 19 (depends on 18) The exoskeleton leg apparatus of claim 18, wherein the actuator is selected from the group consisting of a solenoid, a linear motor, an electric motor, a servo, a DC motors, a voice coil actuator, a piezoelectric actuator, a spring loaded solenoid, a spring loaded motor, and any combination of these. ### Claim 20 (depends on 18) The exoskeleton leg apparatus of claim 18, further comprising a stance sensor, configured to generate a signal indicating the leg of the wearer contacting the ground, wherein the signal initiates the actuator to move the exoskeleton leg apparatus to the first operational mode. ### Claim 21 (depends on 18) The exoskeleton leg apparatus of claim 18, further comprising: a stance sensor configured to generate a signal indicating the leg of the wearer contacting the ground; and a contralateral stance sensor on a contralateral leg configured to generate a signal indicating the contralateral leg of the wearer contacting the ground, wherein the signal from the stance sensor and the signal from the contralateral stance sensor indicate both legs are on the ground and initiate the actuator to move the exoskeleton leg apparatus to the first operational mode thereby supporting the wearer during squatting. ### Claim 22 (depends on 18) The exoskeleton leg apparatus of claim 18, further comprising two stance sensors configured to generate two signals indicating that both the leg and the contralateral leg of the wearer are contacting the ground, wherein the two signals initiate the actuator to move the exoskeleton leg apparatus to the first operational mode, thereby supporting the wearer during the squatting motion. ### Claim 23 (depends on 1) The exoskeleton leg apparatus of claim 1 further comprising a torque adjustment mechanism to change the supporting torque of the force generator. ### Claim 24 (depends on 23) The exoskeleton leg apparatus of claim 23, wherein the torque adjustment mechanism is configured to change a location of the first end or the second end of the force generator. ### Claim 25 (depends on 1) The exoskeleton leg apparatus of claim 1, further comprising a foot link mechanism coupled to one of the first link and the second link, the foot link mechanism being configured to rest under the foot of the wearer and comprising a foot connector configured to move in unison with the foot of the wearer. ### Claim 26 (depends on 25) The exoskeleton leg apparatus of claim 25, wherein the foot connector is coupled to shoes of the wearer. ### Claim 27 (depends on 1) The exoskeleton leg apparatus of claim 1, wherein the force generator is selected from the group consisting of a gas spring, a compression spring, a coil spring, a leaf spring, an air spring, a tensile spring, and a combination thereof. ### Claim 28 (depends on 1) The exoskeleton leg apparatus of claim 1, wherein the exoskeleton leg apparatus is in the first operational mode when the leg of the wearer is on a ground. ### Claim 29 (depends on 1) The exoskeleton leg apparatus of claim 1, wherein, when both the leg and a contralateral leg of the wearer are on a ground, the exoskeleton leg apparatus is in the first operational mode thereby supporting the wearer during squatting. ### Claim 30 (depends on 1) The exoskeleton leg apparatus of claim 1, wherein the second end of the force generator is configured to latch to another one of the first link and the second link by the wearer.