Apparatus and systems for controlled collapse of an exoskeleton
AssigneeLifeward Ltd.
InventorsAmit Goffer, Saman Naser, Roman Rabkin
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Abstract
Embodiment including an apparatus, method and system for collapsing/lowering an exoskeleton device include at least one motor and at least one component. In some embodiments, the device is configured to be moved by the at least one motor. When at least one of a plurality of faults including power faults such as a low power fault and a power failure fault, electrical faults, software faults and mechanical faults are detected in the powering the exoskeleton device, one or more components of the device may be decelerated via the at least one motor.
Claims20
A method for facilitating a controlled collapse of an exoskeleton device including a motor operably connected thereto to cause powered movement of the exoskeleton device, the method comprising:
- upon the occurrence of one or more of a power fault, an electrical fault, a software fault and a mechanical fault of the exoskeleton device, the exoskeleton being configured to initiate a fall to a ground, and
- establishing a low impedance between a positive terminal and a negative terminal of the motor of the exoskeleton device via a controlled collapse circuit so as to cause generation of an electro-magnetic force of the motor to resist or slow down the fall of the exoskeleton device.
A controlled collapse circuit for facilitating a controlled collapse of an exoskeleton device including a motor operably connected thereto to cause powered movement of the exoskeleton device, the circuit comprising:
- a processor configured to receive an indication of one or more of a power fault, an electrical fault, a software fault and a mechanical fault of the exoskeleton device causing the exoskeleton device, to initiate a fall to the ground;
- and
- a power driver configured to establishing low impedance between a positive terminal and a negative terminal of the motor so as to cause generation of an electro-magnetic force of the motor to resist or slow down the fall of the exoskeleton device.
A method for facilitating a collapse of an exoskeleton device in use by a user, the exoskeleton device including a motor, the method comprising:
- upon the occurrence of one or more of a power fault, an electrical fault, a software fault and a mechanical fault of the exoskeleton device causing the exoskeleton device to initiate a fall to a ground, determining, via a processor operably controlling the exoskeleton an amount of electro-magnetic force of the motor sufficient to resist or slow down the fall of the exoskeleton device so that a collapse speed of the exoskeleton device during at least a portion of the fall is substantially constant;
- and
- establishing low impedance between a positive terminal and a negative terminal of the motor of the exoskeleton device via a controlled collapse circuit so as to cause generation of the determined amount of electro-magnetic force to resist or slow down the fall of the exoskeleton device.
Dependencies are inferred from the claim text.