Hip and Knee Actuation Systems for Lower Limb Orthotic Devices

A lower limb orthotic device adapted to be worn by a user comprising:

• a thigh link adapted to couple to a user's lower limb;
• a hip link;
• a hip joint rotatably coupling the thigh link and the hip link through a first range of motion;
• a shank link adapted to be coupled to a user's lower limb;
• a knee joint rotatably coupling the thigh link to the shank link through a second range of motion;
• a hip torque generator including a hip actuator and a first mechanical transmission mechanism connected to the hip actuator, with the hip actuator and the first mechanical transmission mechanism being interposed between the thigh link and the hip link;
• and
• an electric motor for providing mechanical energy to the hip torque generator, said electric motor being adapted to be positioned behind the user's body so as to minimize space taken by the orthotic device on a side of the user.

A lower limb orthotic device adapted to be worn by a user comprising:

• a thigh link adapted to couple to a user's lower limb;
• a hip link;
• a hip joint rotatably coupling the thigh link and the hip allow flexion and extension between the thigh link and the hip link through a first range of motion;
• a power source;
• a hip torque generator interconnected between the thigh link and the hip link, the hip torque generator including:
• a hip actuator;
• and
• a first mechanical transmission mechanism connected to the hip actuator, with the hip actuator and the first mechanical transmission mechanism being interposed between the thigh link and the hip link;
• a shank link adapted to be coupled to a user's lower limb, said shank link being rotatably coupled to the thigh link via a knee joint;
• a knee torque generator coupled to the thigh link and the shank link, the knee torque generator including:
• a knee actuator;
• and
• a second mechanical transmission mechanism connecting the knee actuator to the shank link;
• and
• an electric motor adapted to be driving connected to each of the hip actuator and the knee actuator so as to provide torque to both the hip and knee actuators without an energy dissipating device between the electric motor and the hip and knee actuators.

A lower limb orthotic device adapted to be worn by a user comprising:

• a thigh link adapted to couple to user's lower limb;
• a hip link;
• a hip joint rotatably coupling the thigh link and the hip link to allow flexion and extension between the thigh link and the hip link through a first range of motion;
• a power source;
• a hip torque generator interconnected between the thigh link and the hip link, the hip torque generator including:
• a hip actuator;
• and
• a first mechanical transmission mechanism connected to the hip actuator, with the hip actuator and the first mechanical transmission mechanism being interposed between the thigh link and the hip link;
• a shank link adapted to be coupled to a user's lower limb, said shank link being rotatably coupled to the thigh link via a knee joint;
• a knee torque generator coupled to the thigh link and the shank link, the knee torque generator including:
• a knee actuator;
• and
• a second mechanical transmission mechanism connecting the knee actuator to the shank link;
• and
• an electric motor driving connected to the hip actuator wherein, during normal use, the electric motor provides energy for the orthotic device and the knee actuator acts as an energy dissipating device.

A method of operating a lower limb orthotic device including a thigh link coupled to a user's lower limb, a hip link supported by the user, a hip joint rotatably coupling the thigh link and the hip link to allow flexion and extension between the thigh link and the hip link through a first range of motion, a shank link coupled to a user's lower limb and a knee joint rotatably coupling the thigh link to the shank link through a second range of motion comprising:

• activating a hip torque generator, including a hip actuator and a first mechanical transmission mechanism connected to the hip actuator, to cause relative motion between the thigh link and the hip link;
• activating a knee torque generator, including a knee actuator and a second mechanical transmission mechanism connected to the knee actuator, to cause relative motion between the thigh link and the shank link;
• and
• controlling, through a common electric motor and pump linked to each of the hip and knee torque generators, both the hip torque generator and the knee torque generator for regulating relative positions between both the thigh link and hip link within the first range of motion through the hip actuator and the first mechanical transmission mechanism and the thigh link and the shank link within the second range of motion through the knee actuator and the second mechanical transmission, mechanism in order to cause the lower limb orthotic device to power a user through a natural walking motion.

A lower limb orthotic device adapted to be worn by a user comprising:

• a thigh link adapted to couple to a user's lower limb;
• a hip link;
• a hip joint rotatably coupling the thigh link and the hip link to allow flexion and extension between the thigh link and the hip link through a range of motion;
• a power source;
• and
• a hip torque generator interconnected between the thigh link and the hip link, the hip torque generator including:
• a hip actuator;
• and
• a mechanical transmission mechanism connected to the hip actuator, with the hip actuator and the mechanical transmission mechanism being interposed between the thigh link and the hip link;
• a fluid circuit fluidly connected to the hip actuator;
• a pump adapted to develop a flow of fluid in the fluid circuit;
• and
• an electric motor drivingly connected to the pump to cause pressurize fluid within the fluid circuit to alter relative positions of the thigh link and hip link within the range of motion through both the hip actuator and the mechanical transmission mechanism, with the mechanical transmission mechanism aiding in evening out torque over the range of motion.