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US 12,703,078 B2Granted
Hip exoskeleton for lifting and pushing
AssigneeArizona Board of Regents on behalf of Arizona State University
InventorsThomas Sugar, Kevin Hollander
Life of this patent
Estimating the term…
Abstract
A hip assist actuation system is configured to allow a user to experience free movement of hip extension and hip flexion over a predetermined range and receive a torque assist in response to performing a lifting or pushing activity. The hip assist actuation system may be configured to determine whether the lifting or pushing activity is occurring and provide the torque assist in response to the determination.
Claims20
A hip assist actuation system, comprising:
- a support structure;
- a lever mechanism pivotably coupled to the support structure, the lever mechanism includes an upper arm extending away from a pivot point in a first direction and a lower arm extending away from the pivot point in a second direction;
- and
- a drive mechanism comprising a free mode configuration and an engaged mode configuration, wherein:
- in response to being in the engaged mode configuration, the drive mechanism is configured to apply a torque assist to the upper arm over a predetermined range of hip extension angles,
- in response to being in the free mode configuration, the drive mechanism is configured to allow free motion of the lever mechanism, and
- the hip assist actuation system is configured to transition from the free mode configuration to the engaged mode configuration in response to a hip extension angle of a user exceeding a threshold hip extension angle,
- wherein the hip extension angle is defined as an angle between a neutral zero degree axis and a hip extension of a user from the neutral zero degree axis, and wherein the neutral zero degree axis is defined by a user standing.
5 more elements
A hip assist actuation system for an exoskeleton, the hip assist actuation system comprising:
- a first sensor;
- a first motor;
- a controller in operable communication with the first sensor and the first motor, the controller operable to:
- receive, via the controller, sensor data from the first sensor;
- determine, via the controller, whether a hip extension angle of a user has exceeded a predetermined threshold based on the sensor data;
- command, via the controller, a drive mechanism to transition from a free mode to an engaged mode in response to the hip extension angle exceeding the predetermined threshold;
- and
- command, via the controller, the first motor to rotate in response to the hip extension angle exceeding the predetermined threshold, wherein the first motor is configured to drive the drive mechanism and provide a torque assist to a lever mechanism,
- wherein the hip extension angle is defined as an angle between a neutral zero degree axis and a hip extension of a user from the neutral zero degree axis, and wherein the neutral zero degree axis is defined by a user standing.
6 more elements
An exoskeleton, comprising:
- a first support structure;
- a first leg attachment mechanism configured to couple to a first leg of a user;
- a first lever mechanism pivotably coupled to the first support structure, the first lever mechanism including an upper arm extending away from a pivot point and a lower arm extending away from the pivot point, the lower arm coupled to the first leg attachment mechanism, wherein:
- the first lever mechanism is configured to pivot freely in a first mode;
- the first lever mechanism is configured to receive an assist force to the upper arm in a second mode;
- and
- the first lever mechanism is configured to transition from the first mode to the second mode in response to a hip extension angle of the user exceeding a threshold hip extension angle,
- wherein the hip extension angle is defined as an angle between a neutral zero degree axis and a hip extension of a user from the neutral zero degree axis, and wherein the neutral zero degree axis is defined by a user standing.
5 more elements
Dependencies are inferred from the claim text.