Orthesis system and methods for control of exoskeletons

A method of utilizing an orthesis system including an exoskeleton and a separate support device to be held by a user of the exoskeleton for stabilization, the support device including a signal generator for generating user command signals and the exoskeleton including a controller for shifting the exoskeleton between a seated state, a standing state, and a walking state based on the user command signals, the method comprising:

• generating a first main signal when said exoskeleton is in said seated state to cause said exoskeleton to move from said seated state to said standing state;
• generating a walking signal when said exoskeleton is in said standing state to cause said exoskeleton to move from said standing state to said walking state;
• generating a stopping signal when said exoskeleton is in said walking state to cause said exoskeleton to move from said walking state to said standing state;
• and
• generating a second main signal when said exoskeleton is in said standing state to cause said exoskeleton to move from said standing state to said seated state.

A method of utilizing an orthesis system including an exoskeleton and a separate support device to be held by a user of the exoskeleton for stabilization, the support device including a signal generator for generating user command signals and the exoskeleton including a controller for shifting the exoskeleton between a seated state, a standing state, and a walking state based on the user command signals, the method comprising:

• generating a first walking signal when said exoskeleton is in said seated state to cause said exoskeleton to move from said seated state to said standing state;
• generating a second walking signal when said exoskeleton is in said standing state to cause said exoskeleton to move from said standing state to said walking state;
• generating a first stopping signal when said exoskeleton is in said walking state to cause said exoskeleton to move from said walking state to said standing state;
• and
• generating a second stopping signal when said exoskeleton is in said standing state to cause said exoskeleton to move from said standing state to said seated state.

A method of utilizing an orthesis system including an exoskeleton and a brain signal recognition system for generating user command signals based on the user's brain signals, the exoskeleton including a controller for shifting the exoskeleton between a seated state, a standing state, and a walking state based on the user command signals, the method comprising:

• generating a first main signal when said exoskeleton is in said seated state to cause said exoskeleton to move from said seated state to said standing state;
• generating a walking signal when said exoskeleton is in said standing state to cause said exoskeleton to move from said standing state to said walking state;
• generating a stopping signal when said exoskeleton is in said walking state to cause said exoskeleton to move from said walking state to said standing state;
• and
• generating a second main signal when said exoskeleton is in said standing state to cause said exoskeleton to move from said standing state to said seated state.

An orthesis system comprising:

• an exoskeleton configured to be coupled to a user, said exoskeleton comprising:
• first and second leg supports configured to be coupled to a user's lower limbs, each of the first and second leg supports including a thigh link;
• an exoskeleton trunk configured to be coupled to a user's upper body, said exoskeleton trunk being rotatably connected to each of the first and second leg supports to allow for the flexion and extension between said first and second leg supports and said exoskeleton trunk;
• first and second actuators coupled to respective first and second leg supports, said first and second actuators configured to provide movement of the exoskeleton;
• an exoskeleton controller configured to shift said exoskeleton between a plurality of operational states and receive user command signals;
• and
• a brain signal recognition system configured to generate and send a user command signal to said exoskeleton controller, wherein said user command signal causes said exoskeleton controller to shift said exoskeleton between a first operational state and a second operational state.

A method of utilizing an orthesis system including an exoskeleton and a voice signal recognition system for generating user command signals based on the user's auditory signals and the exoskeleton including a controller for shifting the exoskeleton between a seated state, a standing state, and a walking state based on the user command signals, the method comprising:

• generating a first main signal when said exoskeleton is in said seated state to cause said exoskeleton to move from said seated state to said standing state;
• generating a walking signal when said exoskeleton is in said standing state to cause said exoskeleton to move from said standing state to said walking state;
• generating a stopping signal when said exoskeleton is in said walking state to cause said exoskeleton to move from said walking state to said standing state;
• and
• generating a second main signal when said exoskeleton is in said standing state to cause said exoskeleton to move from said standing state to said seated state.