Reconfigurable ankle exoskeleton device
AssigneeSabanci University
InventorVolkan Pato{hacek over (g)}lu
Life of this patent
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Abstract
The present invention relates to a ungrounded, reconfigurable, parallel mechanism based, force feedback exoskeleton device for the human ankle. The primary use for the device is aimed as a balance/proprioception trainer, while the exeskeleton device can also be employed to accommodate range of motion (RoM)/strengthening exercises. This device is also used for metatarsophalangeal joint exercises.
Claims11
An ungrounded, wearable and reconfigurable ankle therapy and measurement exoskeleton device comprising;
- a base platform which interfaces with a leg of an operator,
- a moving platform which interfaces with a foot of the operator, the moving platform positioned beneath the base platform,
- a connecting member that connects the base platform and the moving platform,
- a reconfigurable joint member, having a locking mechanism engaging the joint member in a locked position or an unlocked position to have more than one degree of freedom, and which connects the connecting member to the base platform;
- wherein in an unlocked position the reconfigurable joint member can freely rotate around two axes wherein a first axis is tangential to the base platform while a second axis is perpendicular to the base platform.
An ungrounded, wearable and reconfigurable ankle therapy and measurement exoskeleton device comprising;
- a base platform which interfaces with a leg of an operator,
- a moving platform which interfaces with a foot of the operator, the moving platform positioned beneath the base platform,
- a connecting member that connects the base platform and the moving platform,
- a reconfigurable joint member, having a locking mechanism engaging the joint member in a locked position or an unlocked position to have more than one degree of freedom, and which connects the connecting member to the base platform;
- characterized in that the reconfigurable joint member allows a 3UPS mechanism in which the device is used as a RoM/strengthening exercise device to be reconfigured into a 3RPS mechanism in which the device is used as a balance/proprioception exercise device.
An ungrounded, wearable and reconfigurable ankle therapy and measurement exoskeleton device comprising;
- a base platform which interfaces with a leg of an operator,
- a moving platform which interfaces with a foot of the operator, the moving platform positioned beneath the base platform,
- a connecting member that connects the base platform and the moving platform,
- a reconfigurable joint member, having a locking mechanism engaging the joint member in a locked position or an unlocked position to have more than one degree of freedom, and which connects the connecting member to the base platform;
- characterized in that the connecting member comprises a drive unit and a moving element.
An ungrounded, wearable and reconfigurable ankle therapy and measurement exoskeleton device comprising;
- a base platform which interfaces with a leg of an operator,
- a moving platform which interfaces with a foot of the operator, the moving platform positioned beneath the base platform,
- a connecting member that connects the base platform and the moving platform,
- a reconfigurable joint member, having a locking mechanism engaging the joint member in a locked position or an unlocked position to have more than one degree of freedom, and which connects the connecting member to the base platform;
- and
- a robust position controller measuring and observing external torques and forces, and resisting the external torques and forces by applying opposite torques and forces.
Dependencies are inferred from the claim text.