Exoskeleton and Method for Controlling a Swing Leg of the Exoskeleton

An exoskeleton adapted to decrease energy consumption of a user comprising:

• an exoskeleton trunk adapted to be coupled to an upper body of a user;
• first and second leg supports rotatably connected to the exoskeleton trunk allowing for the flexion and extension between said leg supports and said exoskeleton trunk, wherein the first and second leg supports are adapted to be coupled to lower limbs of a user and to shift between a stance phase and a swing phase;
• first and second hip actuators adapted to create torques between said exoskeleton trunk and the first and second leg supports;
• and
• means for supplying energy to the first and second hip actuators, wherein during at least one segment of the swing phase of the first leg support, the first hip actuator creates a torque profile such that the energy supplied by the first actuator is larger than energy required to move said first leg support during the at least one segment of the swing phase when not worn by a user.

A method of reducing the energy consumption of a person in motion coupled to an exoskeleton device including a power unit, first and second leg supports rotatably connected to an exoskeleton trunk for attachment to the person's legs, and first and second hip actuators attached to the exoskeleton trunk and the first and second leg supports, the method comprising:

• supplying energy from the power unit to the first hip actuator;
• imposing a torque on said first leg support in a forward swing direction when the second leg support strikes a support surface, thereby transferring mechanical energy to a user from the first leg support;
• and
• imposing a second torque on the first leg support in a direction opposite of the forward swing direction when said first leg support strikes a support surface.

A method of controlling an exoskeleton worn by a user, said exoskeleton having first and second leg supports configurable to be coupled to a user's lower limbs, an exoskeleton trunk configurable to be coupled to a user's upper body and rotatably connectable to said first and second leg supports to allow for flexion and extension between each of the first and second leg supports and said exoskeleton trunk, first and second hip actuators configured to create torque between said exoskeleton trunk and respective first and second leg supports, and at least one power unit providing power to said first and second hip actuators, the method comprising:

• supplying energy from the at least one power unit to one of the first and second hip actuators during at least one segment of a swing phase of the one of the respective first and second leg supports;
• causing the one of the first and second hip actuators to create a torque profile;
• and
• transferring mechanical energy to a lower limb of a user through said one of the respective first and second leg supports.

A method of controlling an exoskeleton worn by a user, said exoskeleton having first and second leg supports configurable to be coupled to a user's lower limbs, an exoskeleton trunk configurable to be coupled to a user's upper body and rotatably connectable to said first and second leg supports to allow for flexion and extension between each of the first and second leg supports and said exoskeleton trunk, first and second hip actuators configured to create torque between said exoskeleton trunk and respective first and second leg supports, and at least one power unit providing power to said first and second hip actuators, the method comprising:

• supplying energy from said at least one power unit to one of the first and second hip actuators during at least one segment of a swing phase of the one of the respective first and second leg supports;
• causing the one of the first and second hip actuators to create a torque profile;
• and
• imposing a force onto a swinging lower limb of a user by the one of the respective first and second leg supports such that said force is in a direction of the lower limb swinging motion.

A method of controlling an exoskeleton worn by a user, said exoskeleton having first and second leg supports configurable to be coupled to a user's lower limbs, an exoskeleton trunk configurable to be coupled to a user's upper body and rotatably connectable to said first and second leg supports to allow for flexion and extension between each of the first and second leg supports and said exoskeleton trunk, first and second hip actuators configured to create torque between said exoskeleton trunk and respective first and second leg supports, and at least one power unit providing power to said first and second hip actuators, the method comprising:

• supplying energy from said at least one power unit to one of the first and second hip actuators during at least one segment of a swing phase of the one of the respective first and second leg supports;
• causing the one of the first and second hip actuators to create a torque profile;
• and
• imposing a torque onto a swinging lower limb of a user by the one of the respective first and second leg supports such that said torque is in a direction of the lower limb swinging motion.