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AssigneeBerkeley Bionics
InventorsHomayoon Kazerooni, Kurt Amundson, Nathan Harding
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A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.
An exoskeleton system comprising:
A method of controlling an exoskeleton system that includes a trunk for coupling to a person, leg supports for coupling to lower limbs of the person, powered joints adapted to provide relative angular movement between the leg supports and the trunk, a plurality of sensors configured to sense forces on the leg supports that are indicative of a stance and a controller for regulating the exoskeleton system based on signals from the plurality of sensors, the method comprising:
A method of controlling an exoskeleton system configured to walk forward, the exoskeleton system including a trunk for coupling to a person, leg supports for coupling to lower limbs of the person, and powered joints adapted to provide relative angular movement between the leg supports and the trunk, said method comprising:
Dependencies are inferred from the claim text.