An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.
An exoskeleton includes an arm brace coupled to an arm of a wearer and a tensile member connected to the arm brace. An actuator exerts a pulling force on the tensile member. The pulling force reduces a length of the tensile member between the arm brace and the actuator and causes the arm of the wearer to bend at an elbow.
A tool-holding arm includes a plurality of links and a tool coupling that removably secures a tool to the tool-holding arm. A first fluid spring provides a gravity-counteracting force to the tool-holding arm. A locking mechanism selectively locks the first fluid spring. An adjustment mechanism selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
A positionable tool support device is mounted near a work surface for supporting a tool for a user. The tool support device includes a surface mount to secure the tool support device to a support surface. A gravity-balancing articulated arm assembly is coupled to and extends from the surface mount. The gravity-balancing articulated arm assembly is selectively adjustable about both vertical and horizontal axes. A rigid support extension is coupled to the gravity-balancing articulated arm assembly for selective rotation relative to the gravity-balancing articulated arm assembly. A flexible tensile member is coupled to and extends, in a relaxed state, vertically downward from the rigid support extension. The tensile member is coupled to the tool.
B25J 1/02 - Manipulators positioned in space by hand articulated or flexible
B25H 1/00 - Work benchesPortable stands or supports for positioning portable tools or work to be operated on thereby
B25J 1/12 - Manipulators positioned in space by hand having means for attachment to a support stand
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
F16M 13/02 - Other supports for positioning apparatus or articlesMeans for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
Mechanical lifts and support equipment, namely, arms,
extenders, lifts and balancers used to move, guide, lift,
hold or stabilize payloads comprised of tools and cargo;
mechanical support equipment, namely, arms or extenders to
assist, guide, lift, hold or stabilize the human arm or hand
in reaching, lifting and placement activity; and user-worn
mechanical support and stabilization equipment consisting of
a system of interconnected braces and supports to assist,
guide, lift, hold, and stabilize the human body and parts
thereof in lifting, holding, carrying and placement
activities.
User-worn mechanical support and stabilization equipment
consisting of a system of interconnected braces and supports
to assist, guide, lift, hold, and stabilize the human body
and parts thereof in lifting, holding, carrying and
placement activities.
Mechanical lifts and support equipment, namely, arms,
extenders, lifts and balancers used to move, guide, lift,
hold or stabilize payloads comprised of tools and cargo;
mechanical support equipment, namely, arms or extenders to
assist, guide, lift, hold or stabilize the human arm or hand
in reaching, lifting and placement activity; and user-worn
mechanical support and stabilization equipment consisting of
a system of interconnected braces and supports to assist,
guide, lift, hold, and stabilize the human body and parts
thereof in lifting, holding, carrying and placement
activities.
(1) Mechanical lifts and support equipment, namely, arms, extenders, lifts and balancers used to move, guide, lift, hold and stabilize payloads comprised of tools and cargo; mechanical support equipment, namely, arms and extenders to assist, guide, lift, hold and stabilize the human arm and hand in reaching, lifting and placement activity; and user-worn mechanical support and stabilization equipment consisting of a system of interconnected braces and supports to assist, guide, lift, hold, and stabilize the human body and parts thereof, namely, shoulders, arms, wrists and hands, in lifting, holding, carrying and placement activities
(2) Mechanical lifts and support equipment, namely, arms, extenders, lifts and balancers used to move, guide, lift, hold and stabilize payloads comprised of tools and cargo; mechanical support equipment, namely, arms and extenders to assist, guide, lift, hold and stabilize the human arm and hand in reaching, lifting and placement activity; and user-worn mechanical support and stabilization equipment consisting of a system of interconnected braces and supports to assist, guide, lift, hold, and stabilize the human body and parts thereof, namely, shoulders, arms, wrists and hands, in lifting, holding, carrying and placement activities
(1) Mechanical lifts and support equipment, namely, arms, extenders, lifts and balancers used to move, guide, lift, hold and stabilize payloads comprised of tools and cargo; mechanical support equipment, namely, arms and extenders to assist, guide, lift, hold and stabilize the human arm and hand in reaching, lifting and placement activity; and user-worn mechanical support and stabilization equipment consisting of a system of interconnected braces and supports to assist, guide, lift, hold, and stabilize the human body and parts thereof, namely, shoulders, arms, wrists and hands, in lifting, holding, carrying and placement activities
(2) Mechanical lifts and support equipment, namely, arms, extenders, lifts and balancers used to move, guide, lift, hold and stabilize payloads comprised of tools and cargo; mechanical support equipment, namely, arms and extenders to assist, guide, lift, hold and stabilize the human arm and hand in reaching, lifting and placement activity; and user-worn mechanical support and stabilization equipment consisting of a system of interconnected braces and supports to assist, guide, lift, hold, and stabilize the human body and parts thereof, namely, shoulders, arms, wrists and hands, in lifting, holding, carrying and placement activities
10.
Exoskeleton and method of providing an assistive torque to an arm of a wearer
An exoskeleton includes a first link that pivots in a transverse plane about a first vertical axis and a second link that pivots in a transverse plane about a second vertical axis. The second link is coupled to the first link. An arm support assembly is coupled to the second link and pivots about a horizontal axis. The arm support assembly includes a spring that generates an assistive torque that counteracts gravity. The arm support assembly provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly further includes a cam profile and a cam follower. Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly. A cuff is coupled to the arm support assembly and the arm of the wearer.
mechanical lifts and support equipment, namely, arms, extenders, lifts and balancers used to move, guide, lift, hold or stabilize payloads comprised of tools and cargo; mechanical support equipment, namely, arms or extenders to assist, guide, lift, hold or stabilize the human arm or hand in reaching, lifting and placement activity; and user-worn mechanical support and stabilization equipment consisting of a system of interconnected braces and supports to assist, guide, lift, hold, and stabilize the human body and parts thereof in lifting, holding, carrying and placement activities
mechanical lifts and support equipment, namely, arms, extenders, lifts and balancers used to move, guide, lift, hold or stabilize payloads comprised of tools and cargo; mechanical support equipment, namely, arms or extenders to assist, guide, lift, hold or stabilize the human arm or hand in reaching, lifting and placement activity; and user-worn mechanical support and stabilization equipment consisting of a system of interconnected braces and supports to assist, guide, lift, hold, and stabilize the human body and parts thereof in lifting, holding, carrying and placement activities
13.
Ensuring operator engagement in an exoskeleton bionic device
An operator supervising a wearer of an exoskeleton is verified by performing a verification routine on the operator using the exoskeleton. If the verification routine is unsuccessful, the exoskeleton is caused to follow a pre-established response routine. If the verification routine is successful, movement of the exoskeleton is allowed.
A61H 1/02 - Stretching or bending apparatus for exercising
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.
An exoskeleton (501, 701) includes a body harness (505, 703, 704) to attach the exoskeleton (501, 701) to a person (500, 700). In one embodiment, the exoskeleton (501, 701) also includes a tool-holding arm (502) to support a tool (519) and a leg (509) to transfer the weight of the tool (519) and the tool-holding arm (502) to a support surface (518). The leg (509) is non-anthropomorphic. In another embodiment, the exoskeleton (501, 701) further includes an overhead gantry (712), which slides along an overhead guide and support (713), and an elastic support (708) connected to the overhead gantry (712). The elastic support (708) partially suspends the person (500, 700) from the overhead gantry (712) through the exoskeleton (501, 701).
F16M 13/04 - Other supports for positioning apparatus or articlesMeans for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains
An exoskeleton includes first and second support structures configured to be coupled to a wearer of the exoskeleton. A joint connects the first and second support structures, the joint enabling relative movement between the first and second structures. First and second cord loops connect the first and second support structures. At least one motor twists and thereby shortens the first and second cord loops, wherein shortening of the first cord loop causes relative movement of the first and second support structures about the joint in a first direction, and shortening of the second cord loop causes relative movement of the first and second support structures about the joint in a second, opposite direction. A brake mechanism prevents relative movement of the first and second support structures about the joint in at least one of the first and second directions if one of the first and second cord loops breaks.
A61H 1/02 - Stretching or bending apparatus for exercising
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
F16H 19/06 - Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary motion and reciprocating motion comprising an endless flexible member
17.
Methods of enhancing the rehabilitation or training of an exoskeleton wearer
Use of an exoskeleton by a wearer of the exoskeleton is improved through several features. In a first feature, the exoskeleton enters a gait therapy preparation mode to prepare the wearer for subsequent gait therapy. In a second feature, the exoskeleton enters a balance training mode to help the wearer learn to balance while wearing the exoskeleton. In a third feature, the exoskeleton prompts the wearer to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer.
A positionable tool support device (200; 300; 500; 600; 610; 700; 710; 800) is mounted near a work surface for supporting a tool (21 1; 31 1; 321; 341; 406; 412; 452; 462; 492; 574; 605; 635; 705) for a user. The tool support device includes a surface mount to secure the tool support device to a support surface. A gravity-balancing articulated arm assembly (201; 305; 325; 414; 502; 602; 702; 802) is coupled to and extends from the surface mount. The gravity-balancing articulated arm assembly (201; 301; 325; 414; 502; 602; 702; 802) is selectively adjustable about both vertical and horizontal axes. A rigid support extension (202; 302; 324; 340; 413; 418; 459; 469; 501; 603; 633; 703; 713; 803) is coupled to the gravity-balancing articulated arm assembly for selective rotation relative to the gravity-balancing articulated arm assembly. A flexible tensile member (208; 258; 308; 315; 330; 400; 450; 460; 470; 604; 634; 704; 714; 814; 815; 832) is coupled to and extends, in a relaxed state, vertically downward from the rigid support extension. The tensile member is coupled to the tool.
B25H 1/00 - Work benchesPortable stands or supports for positioning portable tools or work to be operated on thereby
B25H 1/04 - Work benchesPortable stands or supports for positioning portable tools or work to be operated on thereby of table type portable
B25H 1/06 - Work benchesPortable stands or supports for positioning portable tools or work to be operated on thereby of trestle type
B25H 1/08 - Work benchesPortable stands or supports for positioning portable tools or work to be operated on thereby with provision for attachment of work holders
B25H 1/10 - Work benchesPortable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
B25J 1/00 - Manipulators positioned in space by hand
B25J 1/02 - Manipulators positioned in space by hand articulated or flexible
19.
Human machine interfaces for lower extremity orthotics
A system and method by which movements desired by a user of a lower extremity orthotic is determined and a control system automatically regulates the sequential operation of powered lower extremity orthotic components to enable the user, having mobility disorders, to walk, as well as perform other common mobility tasks which involve leg movements, perhaps with the use of a gait aid.
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A61H 1/00 - Apparatus for passive exercisingVibrating apparatusChiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
A61H 1/02 - Stretching or bending apparatus for exercising
An exoskeleton configured to be coupled to a user includes a plurality of interconnected support elements constituted by rigid compression members interconnected through a tensegrity joint. The joint includes a tensile member having a first end and a second end coupled to first and second ones of the support elements respectively.
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
F16M 13/04 - Other supports for positioning apparatus or articlesMeans for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A61F 2/60 - Artificial legs or feet or parts thereof
An exoskeleton device includes a first brace coupled to a first portion of a wearer of the exoskeleton device and a second brace coupled to a second portion of the wearer. A first joint connects the first and second braces and allows relative movement between the first and second braces. A first brake is controllable between an unactuated state and a plurality of actuated states, and the first brake impedes relative movement between the first and second braces at the first joint while the first brake is in one of the plurality of actuated states. A manual actuator is selectively used by the wearer during relative movement between the first and second braces. Use of the actuator causes the first brake to enter one of the plurality of actuated states such that relative movement between the first and second braces is impeded at the first joint.
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
22.
DEVICE AND METHOD FOR STRENGTHENING THE ARMS OF HUAMAN EXOSKELETONS
An exoskeleton (251) includes an arm brace (230) coupled to an arm (200) of a wearer (250) and a tensile member (257, 258) connected to the arm brace (230). An actuator (285) exerts a pulling force on the tensile member (257, 258). The pulling force reduces a length of the tensile member (257, 258) between the arm brace (230) and the actuator (285) and causes the arm (200) of the wearer (250) to bend at an elbow (202).
A tool arm mount couples a tool arm to an aerial work platform. The tool arm mount includes a first mounting hook that hangs on a first rail of the aerial work platform and a second mounting hook that hangs on a second rail of the aerial work platform. The first mounting hook defines a first channel in which the first rail is received, and the second mounting hook defines a second channel in which the second rail is received. The first and second mounting hooks are coupled to a spine of the tool arm mount. The tool arm mount also includes a first lock that locks the first mounting hook to the first rail.
B25H 1/00 - Work benchesPortable stands or supports for positioning portable tools or work to be operated on thereby
B66F 11/04 - Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
An exoskeleton includes first and second compression members configured to be coupled to a wearer of the exoskeleton. A tensegrity joint connects the first compression member to the second compression member, the joint including a tensile member having a first end and a second end. The first end is coupled to the first compression member on a first side of the joint, and the second end is coupled to the first compression member on a second side of the joint opposite the first side.
A tool-holding arm (405, 505) includes a plurality of links (409, 410, 509, 510) and a tool coupling (406, 506) that removably secures a tool (403, 430, 503) to the tool-holding arm (405, 505). A first fluid spring (445, 533, 536) provides a gravity-counteracting force to the tool- holding arm (405, 505). A locking mechanism (422, 450, 552) selectively locks the first fluid spring (445, 533, 536). An adjustment mechanism (520, 550) selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring (445, 533, 536).
An exoskeleton trajectory sequence is received with at least one server, and the sequence is transferred to a first device where the sequence is validated. The validation includes a safety check in which a determination is made as to whether the sequence is safe for use with an exoskeleton. The validated sequence, or a confirmation that the sequence is valid, is received from the first device, and the validated sequence is offered for sale, license or lease. In one embodiment, a request for the sequence to be transferred is received from a first exoskeleton user. The sequence is validated and transferred to a second exoskeleton user. In another embodiment, a request for the sequence to be edited is received from an exoskeleton user. The sequence is edited, validated and transferred to the exoskeleton user.
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A61H 1/02 - Stretching or bending apparatus for exercising
G06Q 20/42 - Confirmation, e.g. check or permission by the legal debtor of payment
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G16H 40/60 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
An exoskeleton includes a first link that pivots in a transverse plane about a first vertical axis and a second link that pivots in a transverse plane about a second vertical axis. The second link is coupled to the first link. An arm support assembly is coupled to the second link and pivots about a horizontal axis. The arm support assembly includes a spring that generates an assistive torque that counteracts gravity. The arm support assembly provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly further includes a cam profile and a cam follower. Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly. A cuff is coupled to the arm support assembly and the arm of the wearer.
An exoskeleton includes a first link that pivots in a transverse plane about a first vertical axis and a second link that pivots in a transverse plane about a second vertical axis. The second link is coupled to the first link. An arm support assembly is coupled to the second link and pivots about a horizontal axis. The arm support assembly includes a spring that generates an assistive torque that counteracts gravity. The arm support assembly provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly further includes a cam profile and a cam follower. Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly. A cuff is coupled to the arm support assembly and the arm of the wearer.
An exoskeleton (101, 901) includes strapping (102, 902) for coupling the exoskeleton (101, 901) to a wearer (100, 900). The exoskeleton (101, 901 ) also includes a hip structure (108, 908), a thigh link (113, 913) rotatably connected to the hip structure (108, 908) and a shank link (115, 915) rotatably connected to the thigh link (113, 913). The weight of the exoskeleton (101, 901) is transferred to a surface (1 18, 918) on which the exoskeleton (101, 901) is standing through the hip structure (108, 908), the thigh link (113, 913) and the shank link (115, 915). An arm brace (922) supports an arm (923) of the wearer (100, 900), and a telescopic link (910) is rotatably connected to the arm brace (922). An energy storage device (123) delivers power to a tool (103, 903) through a conduit (121), and a conduit-energy storage device coupling (122) connects the conduit (121) to the energy storage device (123).
An exoskeleton includes strapping for coupling the exoskeleton to a wearer. The exoskeleton also includes a hip structure, a thigh link rotatably connected to the hip structure and a shank link rotatably connected to the thigh link. The weight of the exoskeleton is transferred to a surface on which the exoskeleton is standing through the hip structure, the thigh link and the shank link. An arm brace supports an arm of the wearer, and a telescopic link is rotatably connected to the arm brace. An energy storage device delivers power to a tool through a conduit, and a conduit-energy storage device coupling connects the conduit to the energy storage device.
A mobility system includes an energy module, an exoskeleton and a mobile base. The exoskeleton has an exoskeleton energy module receptacle that can receive the energy module, and the mobile base has a mobile base energy module receptacle that can also receive the energy module. In addition, the mobile base has an exoskeleton support that can support the exoskeleton on the mobile base so that the mobile base can transport the exoskeleton across a support surface.
A61H 1/02 - Stretching or bending apparatus for exercising
A61H 3/04 - Wheeled walking aids for patients or disabled persons
H01M 2/10 - Mountings; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
A61G 7/10 - Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
A61G 5/06 - Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle-mounting facilities, e.g. for climbing stairs
A three-dimensional surface scan of an exoskeleton wearer (130) is performed to generate three-dimensional surface data, and a three-dimensional surface model of the exoskeleton wearer (130) is generated from the three-dimensional surface scan data. A three- dimensional exoskeleton model is generated from the three-dimensional surface model. At least one three-dimensional exoskeleton component is printed from the three-dimensional exoskeleton model, and a custom-fit exoskeleton is assembled using the at least one three-dimensional exoskeleton component.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Robotic non-medical exoskeleton systems worn by humans
comprising wearable supports, braces, and platforms for the
purpose of assisting human locomotion, lifting, carrying,
and transporting loads for the person wearing the product. Human exoskeleton systems for medical use consisting of
wearable supports and braces for use in assisting human
locomotion; orthopedic braces; orthotics for limbs and feet;
medical, rehabilitative, therapeutic and physical therapy
devices related to human injury or mobility, namely, gait
trainers.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
Robotic non-medical exoskeleton systems worn by humans
comprising wearable supports, braces, and platforms for the
purpose of assisting human locomotion, lifting, carrying,
and transporting loads for the person wearing the product. Human exoskeleton systems for medical use consisting of
wearable supports and braces for use in assisting human
locomotion; orthopedic braces; orthotics for limbs and feet;
medical, rehabilitative, therapeutic and physical therapy
devices related to human injury or mobility, namely, gait
trainers.
An exoskeleton (305; 405) includes first and second compression members (105; 105'; 110; 110') configured to be coupled to a wearer (205) of the exoskeleton (305; 405). A tensegrity joint (100; 170; 171; 200; 300; 400) connects the first compression member (105; 105') to the second compression member (110; 110'), the joint (100; 170; 171; 200; 300; 400) including a tensile member (140; 235; 330; 445) having a first end and a second end. The first end is coupled to the first compression member (105; 105') on a first side of the joint (100; 170; 171; 200; 300; 400), and the second end is coupled to the first compression member (105; 105') on a second side of the joint (100; 170; 171; 200; 300; 400) opposite the first side.
A61F 4/00 - Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body
A61F 5/00 - Orthopaedic methods or devices for non-surgical treatment of bones or jointsNursing devices
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A61H 1/02 - Stretching or bending apparatus for exercising
A63B 23/08 - Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle-joints
36.
Ambulatory exoskeleton and method of relocating exoskeleton
An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A61H 1/02 - Stretching or bending apparatus for exercising
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
37.
ENSURING OPERATOR ENGAGEMENT IN AN EXOSKELETON BIONIC DEVICE
An operator (170) supervising a wearer (130) of an exoskeleton (100, 100') is verified by performing a verification routine on the operator (170) using the exoskeleton (100, 100'). If the verification routine is unsuccessful, the exoskeleton (100, 100') is caused to follow a pre- established response routine. If the verification routine is successful, movement of the exoskeleton (100, 100') is allowed.
A first exoskeleton is in communication with a central server (210) or a peripheral device (705, 706). The first exoskeleton collects first data and transmits the first data to the central server (210) or peripheral device (705, 706). The central server (210) or peripheral device (705, 706) generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.
A first exoskeleton is in communication with a central server (210) or a peripheral device (705, 706). The first exoskeleton collects first data and transmits the first data to the central server (210) or peripheral device (705, 706). The central server (210) or peripheral device (705, 706) generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.
An exoskeleton (300) includes first and second support structures (315, 320) for coupling to a wearer (305). A joint (335) connects the first and second support structures (315, 320) to enable relative movement therebetween. First and second cord loops (405, 406) connect the first and second support structures (315, 320). At least one motor (350, 351, 1100) twists and thereby shortens the first and second cord loops (405, 406). Shortening of the first cord loop (405) causes relative movement of the first and second support structures (315, 320) about the joint (335) in a first direction, and shortening of the second cord loop (406) causes relative movement of same in a second, opposite direction. A brake mechanism prevents relative movement of the first and second support structures (315, 320) about the joint (335) in at least one of the first and second directions if one of the first and second cord loops (405, 406) breaks.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
25 - Clothing; footwear; headgear
Goods & Services
(1) Robotic non-medical exoskeleton systems worn by humans comprising wearable supports, braces, and platforms for the purpose of assisting human locomotion, lifting, carrying, and transporting loads for the person wearing the product
(2) Human exoskeleton systems for medical use consisting of wearable supports and braces for use in assisting human locomotion; orthopedic braces; orthotics for limbs and feet; medical, rehabilitative, therapeutic and physical therapy devices related to human injury or mobility, namely, gait trainers
(3) Clothing, namely, shirts and jackets
42.
Machine to human interfaces for communication from a lower extremity orthotic
A lower extremity orthosis is configured to be coupled to across at least one joint of a person for gait assistance and can incorporate knee, thigh, hip and ankle/foot assistive orthotic devices which can be used in various combinations to aid in the rehabilitation and restoration of muscular function in patients with impaired muscular function or control.
An exoskeleton configured to be coupled to a user includes a plurality of interconnected support elements constituted by rigid compression members interconnected through a tensegrity joint. The joint includes a tensile member having a first end and a second end coupled to first and second ones of the support elements respectively.
F16M 13/04 - Other supports for positioning apparatus or articlesMeans for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A61F 2/60 - Artificial legs or feet or parts thereof
44.
Exoskeleton and method of increasing the flexibility of an exoskeleton hip joint
An exoskeleton comprises a torso brace, configured to be coupled to a torso of a user, and a leg support, configured to be coupled to a leg of the user. A plurality of links couples the torso brace to the leg support. The plurality of links includes a first link, coupled to the torso brace at a first pivot point, and a second link, coupled to the leg support at a second pivot point. The first link is coupled to the second link through a third pivot point located between the first and second pivot points. The first pivot point enables adduction of the leg support, and the third pivot point enables abduction of the leg support.
An exoskeleton comprises at least one load-bearing element including a flexible hose, sleeve or cable (200) having a first end portion and a second end portion opposite the first end portion. The first end portion is engageable with a load (500) and is configured to transfer a weight of the load (500) to the hose, sleeve or cable (200). The hose, sleeve or cable (200) is configured to transfer the weight of the load (500) from the first end portion to the second end portion, and the second end portion is configured to transfer the weight of the load (500) to a support surface upon which the exoskeleton is supported.
Use of an exoskeleton (100) by a wearer (130) of the exoskeleton (100) is improved through several features. In a first feature, the exoskeleton (100) enters a gait therapy preparation mode to prepare the wearer (130) for subsequent gait therapy. In a second feature, the exoskeleton (100) enters a balance training mode to help the wearer (130) learn to balance while wearing the exoskeleton (100). In a third feature, the exoskeleton (100) prompts the wearer (130) to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton (100) in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer (130).
An exoskeleton device (210) includes a first brace (215) coupled to a first portion (120) of a wearer (100) of the exoskeleton device (210) and a second brace (220) coupled to a second portion (125) of the wearer (100). A first joint (225) connects the first and second braces (215, 220) and allows relative movement between the first and second braces (215, 220). A first brake (230, 235) is controllable between an unactuated state and a plurality of actuated states, and the first brake (230, 235) impedes relative movement between the first and second braces (215, 220) at the first joint (225) while the first brake (230, 235) is in one of the plurality of actuated states. A manual actuator (245, 250) is selectively used by the wearer during relative movement between the first and second braces (215, 220). Use of the actuator (245, 250) causes the first brake (230, 235) to enter one of the plurality of actuated states such that relative movement between the first and second braces (215, 220) is impeded at the first joint (225).
An exoskeleton includes a control system which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist and/or to an exoskeleton user. The feedback system can take various forms, including employing sensors to establish a feedback ready value and communicating the value through one or more light sources which can be in close proximity to joints of the exoskeleton joints.
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
49.
Gait orthotic system and method for achieving hands-free stability
A gait orthotic system includes a balance aid and a gait orthotic device. The gait orthotic device has a rigid attachment mechanism configured to securely and releasably couple the balance aid to the gait orthotic device. When the balance aid is coupled to the gait orthotic device, the gait orthotic device is supported in a standing position so that a user of the gait orthotic device is able to use his/her hands freely. When the balance aid is not coupled to the gait orthotic device, the user is able to use the balance aid for locomotion. In certain embodiments, the balance aid is a forearm crutch, a walker or a cane, while the rigid attachment mechanism is a clamp with an over-center latch.
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A61H 1/02 - Stretching or bending apparatus for exercising
50.
Gait orthotic device and method for protecting gait orthotic device and user from damage
A gait orthotic device, such as a powered exoskeleton, includes at least one joint; at least one actuator configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface or object; and a controller. The controller is configured to determine when a fall is occurring and direct the actuator to: orient the device so the cushioning mechanism makes contact with the surface or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work. The cushioning mechanism can take various forms, including an airbag, a spring, a bumper, a roll bar or a kickstand. Preferably, the cushioning mechanism is an airbag in the form of an airbag module that is detachably coupled to the device for removal and replacement.
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
51.
Powered orthotic system for cooperative overground rehabilitation
A powered orthotic system, such as an exoskeleton, is employed for overground rehabilitation purposes by adapting and adjusting to real-time needs in a rehabilitation situation whereby the system can be initially controlled to perform gait functions for a wearer based on a predetermined level of assistance but the predetermined level of assistance can be varied, based on one or more rehabilitation parameters or specific needs of the wearer undergoing therapy, through the application and adjustment of appropriate variables associated with operation of the system.
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61H 1/02 - Stretching or bending apparatus for exercising
52.
Non-anthropomorphic hip joint locations for exoskeletons
An exoskeleton device provides for selectively adjusting an exoskeleton hip pivot/pivot position in the sagittal plane relative to the position of the hip pivot of a wearer of the exoskeleton. The exoskeleton hip pivots/pivot positions can be shifted forward or rearward relative to the hip pivots of the wearer and can either be automatically actuated by an exoskeleton control system or manually adjusted by the exoskeleton wearer. The invention particularly allows for differential hip placement in order to compensate for changing load or actuation conditions.
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A61H 1/02 - Stretching or bending apparatus for exercising
An exoskeleton trajectory sequence (228) is received with at least one server (232), and the sequence (236) is transferred to a first device (244) where the sequence (246) is validated. The validation includes a safety check in which a determination is made as to whether the sequence (246) is safe for use with an exoskeleton (100). The validated sequence (246), or a confirmation that the sequence (236) is valid, is received from the first device (244), and the validated sequence (248) is offered for sale, license or lease. In one embodiment, a request for the sequence (326) to be transferred is received from a first exoskeleton user (300). The sequence (334) is validated and transferred to a second exoskeleton user (302). In another embodiment, a request for the sequence (424) to be edited is received from an exoskeleton user (400). The sequence (438) is edited, validated and transferred to the exoskeleton user (400).
An exoskeleton (105) comprises a torso brace (120), configured to be coupled to a torso of a user (100), and a leg support (155), configured to be coupled to a leg (165) of the user (100). A plurality of links couples the torso brace (120) to the leg support (155). The plurality of links includes a first link (125), coupled to the torso brace (120) at a first pivot point (130), and a second link (145), coupled to the leg support (155) at a second pivot point (160). The first link (125) is coupled to the second link (145) through a third pivot point (150) located between the first (130) and second pivot points (160). The first pivot point (130) enables adduction of the leg support (155), and the third pivot point (150) enables abduction of the leg support (155).
A lower extremity orthosis, including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, is provided with a handle including a force sensor configured to produce a signal representing a force applied to the handle. A controller, which is in communication with the force sensor and the at least one actuator, is configured to modify the motion based on the signal from the force sensor. The system can be particularly employed to enable a physical therapist to have input in controlling and modifying the positions and/or forces prescribed by the lower extremity orthosis during rehabilitation of the person.
An exoskeleton (105; 205; 305; 405; 505) configured to be coupled to a user (100; 200; 300; 400; 500) includes a plurality of interconnected support elements (141, 150; 340, 341, 342, 350; 420, 450, 420', 450'; 515, 520, 535) constituted by rigid compression members interconnected through a tensegrity joint (155; 255; 355; 430, 430'; 570). The joint includes a tensile member (165; 360, 361, 362; 440, 440'; 530, 531; 545, 546) having a first end and a second end coupled to first and second ones of the support elements (141, 150; 340, 341, 342, 350; 420, 450, 420', 450'; 515, 520, 535) respectively.
An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.
An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an - unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators; of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.
The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.
F15B 7/00 - Fluid-pressure actuator systems in which the movement produced is definitely related to the output of a volumetric pumpTelemotors
F15B 11/04 - Systems essentially incorporating special features for controlling the speed or the actuating force or speed of an output member for controlling the speed
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A61H 1/02 - Stretching or bending apparatus for exercising
F15B 11/028 - Systems essentially incorporating special features for controlling the speed or the actuating force or speed of an output member for controlling the actuating force
F15B 15/08 - Fluid-actuated devices for displacing a member from one position to anotherGearing associated therewith characterised by the construction of the motor unit
F04C 14/22 - Control of, monitoring of, or safety arrangements for, machines, pumps or pumping installations characterised by varying the volume of the working chamber by changing the eccentricity between cooperating members
60.
MACHINE TO HUMAN INTERFACES FOR COMMUNICATION FROM A LOWER EXTREMITY ORTHOTIC
A lower extremity orthosis is configured to be coupled to across at least one joint of a person for gait assistance and can incorporate knee (261), thigh (301; 401), hip (601; 701) and ankle/foot (801; 821) assistive orthotic devices which can be used in various combinations to aid in the rehabilitation and restoration of muscular function in patients with impaired muscular function or control.
A lower extremity orthotic control system determines a movement desired by a user, particularly with a user employing gestures or other signals to convey or express their intent to the system, and automatically regulates the sequential operation of powered lower extremity orthotic components. In a particular application, the orientation of a stance leg is used to determine when the user wants to initiate a step, as well as when the user is in a safe position from which to take a step. The invention has particular applicability for use in enabling a paraplegic user to walk through a controlled operation of a human exoskeleton coupled to the user's lower limbs. A controller receives inputs regarding a motion desired by the user, determines the desired motion and then controls the movement of the user's legs or limbs through actuation of the exoskeleton.
A gait orthotic device, such as a powered exoskeleton (100), includes at least one joint; at least one actuator (125, 130; 135, 140) configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface (300) or object; and a controller (105). The controller (105) is configured to determine when a fall is occurring and direct the actuator (125, 130; 135, 140) to: orient the device so the cushioning mechanism makes contact with the surface (300) or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work.
A41D 13/018 - Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches with shock-absorbing means inflatable automatically
63.
GAIT ORTHOTIC SYSTEM AND METHOD FOR ACHIEVING HANDS-FREE STABILITY
A gait orthotic system includes a balance aid (120) and a gait orthotic device (100). The gait orthotic device (120) has a rigid attachment mechanism (125, 130) configured to securely and releasably couple the balance aid (120) to the gait orthotic device (100). When the balance aid (120) is coupled to the gait orthotic device (100), the gait orthotic device (100) is supported in a standing position so that a user of the gait orthotic device (100) is able to use his/her hands freely. When the balance aid (120) is not coupled to the gait orthotic device (100), the user is able to use the balance aid (120) for locomotion. In certain embodiments, the balance aid (120) is a forearm crutch, a walker or a cane, while the rigid attachment mechanism (125, 130) is a clamp with an over-center latch (510).
An exoskeleton device (103; 113; 302; 402) provides for selectively adjusting an exoskeleton hip pivot/pivot position (109; 119; 306; 407; 408; 410) in the sagittal plane relative to the position of the hip pivot (133) of a wearer (101; 111; 301; 401) of the exoskeleton (103; 113; 302; 402). The exoskeleton hip pivots/pivot positions (109; 119; 306; 407; 408; 410) can be shifted forward or rearward relative to the hip pivots (133) of the wearer (101; 111; 301; 401) and can either be automatically actuated by an exoskeleton control system or manually adjusted by the exoskeleton wearer (101; 111; 301; 401). The invention particularly allows for differential hip placement in order to compensate for changing load or actuation conditions.
A powered orthotic system, such as an exoskeleton (100), is employed for overground rehabilitation purposes by adapting and adjusting to real-time needs in a rehabilitation situation whereby the system can be initially controlled to perform gait functions for a wearer (109) based on a predetermined level of assistance but the predetermined level of assistance can be varied, based on one or more rehabilitation parameters or specific needs of the wearer (109) undergoing therapy, through the application and adjustment of appropriate variables associated with operation of the system.
An exoskeleton (100; 204; 304; 404; 504; 602; 702; 802; 902; 1002) includes a control system (120; 205; 305; 405; 505; 603; 703; 803; 903; 1003; 1010) which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist (202, 302, 402) and/or to an exoskeleton user (109; 201; 301; 401; 501; 601; 701; 801; 901; 1001). The feedback system can take various forms, including employing sensors (704; 804; 1004; 1010) to establish a feedback ready value and communicating the value through one or more light sources (206; 306; 503; 608) which can be in close proximity to joints of the exoskeleton joints.
A lower extremity orthosis, including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, is provided with a handle including a force sensor configured to produce a signal representing a force applied to the handle. A controller, which is in communication with the force sensor and the at least one actuator, is configured to modify the motion based on the signal from the force sensor. The system can be particularly employed to enable a physical therapist to have input in controlling and modifying the positions and/or forces prescribed by the lower extremity orthosis during rehabilitation of the person.
An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.
An exoskeleton (100; 200) can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints (230; 231; 232; 233; 249) or limbs (112L; 112R) can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated.
The invention is directed to controlling a hydraulic actuation system (50) having at least one degree of freedom, a prime mover (101), at least one actuation module (110, 120, 130) and a controller (103), with each actuation module (110, 120, 130) including: an over-center variable displacement pump (112 and 113; 601; 801) having a power input connection configured to power the pump from the prime mover (101) and a displacement varying input for varying the displacement of the pump; a displacement varying actuator (111, 121, 131) configured to modulate the displacement varying input of the pump; an output actuator (115) in direct communication with the pump, the output actuator (115) configured to drive a corresponding degree of freedom; and at least one sensor (116, 126) establishing a feedback measurement that represents a force or motion of the output actuator (115).
A powered lower extremity orthotic (100; 310), including a shank link (105; 305) coupled to an artificial foot (108; 301), a knee mechanism (107; 306) connected to the shank link (105; 305) and a thigh link (103; 307), is controlled by based on signals from various orthotic mounted sensors (122, 124, 126, 127) such that the artificial foot (108; 301) follows a predetermined trajectory defined by at least one Cartesian coordinate.
A powered lower extremity orthotic (100; 310), including a shank link (105; 305) coupled to an artificial foot (108; 301), a knee mechanism (107; 306) connected to the shank link (105; 305) and a thigh link (103; 307), is controlled by based on signals from various orthotic mounted sensors (122, 124, 126, 127) such that the artificial foot (108; 301) follows a predetermined trajectory defined by at least one Cartesian coordinate.
An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.
A lower extremity orthotic control system determines a movement desired by a user, particularly with a user employing gestures or other signals to convey or express their intent to the system, and automatically regulates the sequential operation of powered lower extremity orthotic components. In a particular application, the orientation of a stance leg is used to determine when the user wants to initiate a step, as well as when the user is in a safe position from which to take a step. The invention has particular applicability for use in enabling a paraplegic user (200) to walk through a controlled operation of a human exoskeleton (100) coupled to the user's lower limbs (205). A controller (220) receives inputs regarding a motion desired by the user (200), determines the desired motion and then controls the movement of the user's legs or limbs (205) through actuation of the exoskeleton (100).
A system and method by which movements desired by a user of a lower extremity orthotic is determined and a control system automatically regulates the sequential operation of powered lower extremity orthotic components to enable the user, having mobility disorders, to walk, as well as perform other common mobility tasks which involve leg movements, perhaps with the use of a gait aid.
A61H 1/00 - Apparatus for passive exercisingVibrating apparatusChiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
A61H 1/02 - Stretching or bending apparatus for exercising
A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a head of the person, an orientation of a walking aid employed by the person, a contact force between a walking aid employed by the person and a support surface, a force imparted by the person on the walking aid, a force imparted by the person on the walking aid, a relative orientation of the exoskeleton, moveable components of the exoskeleton and the person, and relative velocities between the exoskeleton, moveable components of the exoskeleton and the person.
A61H 1/00 - Apparatus for passive exercisingVibrating apparatusChiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
A61H 1/02 - Stretching or bending apparatus for exercising
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
A powered lower extremity orthotic, including a shank link coupled to an artificial foot, a knee mechanism connected to the shank link and a thigh link, is controlled by based on signals from various orthotic mounted sensors such that the artificial foot follows a predetermined trajectory defined by at least one Cartesian coordinate.
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.
Human exoskeleton systems for medical use consisting of
wearable supports and braces for use in assisting human
locomotion; orthopedic braces, artificial limbs; orthotics
for limbs, hands, and feet; medical, rehabilitative,
therapeutic and physical therapy devices related to human
injury or mobility, namely, gait trainers.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
(1) Robotic non-medical exoskeleton systems worn by humans comprising wearable supports and braces for the purpose of assisting lifting and carrying loads for the person wearing the product; human exoskeleton systems for medical use consisting of wearable supports and braces for use in assisting human locomotion; orthopedic braces; orthotics for limbs and feet; medical, rehabilitative, therapeutic and physical therapy devices related to human injury or mobility, namely, gait trainers.
Human exoskeleton systems for medical use consisting of
wearable supports and braces for use in assisting human
locomotion; orthopedic braces, artificial limbs; orthotics
for limbs, hands, and feet; medical, rehabilitative,
therapeutic and physical therapy devices related to human
injury or mobility, namely, gait trainers.
09 - Scientific and electric apparatus and instruments
Goods & Services
robotic non-medical exoskeleton systems worn by humans comprising wearable supports, braces, and platforms for the purpose of assisting [ human locomotion, ] lifting, carrying, and transporting loads for the person wearing the product
human exoskeleton systems for medical use consisting of wearable supports and braces for use in assisting human locomotion; orthopedic braces; orthotics for limbs, and feet; medical, rehabilitative, therapeutic and physical therapy devices related to human injury or mobility, namely, gait trainers
84.
HUMAN MACHINE INTERFACES FOR LOWER EXTREMITY ORTHOTICS
A system and method by which movements desired by a user (200) of a lower extremity orthotic (100) is determined and a control system (215, 216, 220, 225, 230) automatically regulates the sequential operation of powered lower extremity orthotic components (212) to enable the user (200), having mobility disorders, to walk, as well as perform other common mobility tasks which involve leg movements, perhaps with the use of a gait aid (102).
(1) Human exoskeleton systems for medical use consisting of wearable supports and braces for use in assisting human locomotion; orthopedic braces, orthotics for limbs, and feet; medical, rehabilitative, therapeutic and physical therapy devices related to human injury or mobility, namely, gait trainers.
A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a head of the person, an orientation of a walking aid employed by the person, a contact force between a walking aid employed by the person and a support surface, a force imparted by the person on the walking aid, a force imparted by the person on the walking aid, a relative orientation of the exoskeleton, moveable components of the exoskeleton and the person, and relative velocities between the exoskeleton, moveable components of the exoskeleton and the person.
An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.
A61H 1/00 - Apparatus for passive exercisingVibrating apparatusChiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
09 - Scientific and electric apparatus and instruments
Goods & Services
robotic non-medical exoskeleton systems worn by humans comprising wearable supports, braces, and platforms for the purpose of assisting [ human locomotion, ] * with * lifting, carrying, and transporting loads for the person wearing the product
human exoskeleton systems for medical use consisting of wearable supports and braces for use in assisting human locomotion; orthopedic braces; orthotics for limbs and feet; medical, rehabilitative, therapeutic and physical therapy devices related to human injury or mobility, namely, gait trainers
90.
Hip and knee actuation systems for lower limb orthotic devices
A lower limb orthotic device includes a thigh link connected to a hip link through a hip joint, a hip torque generator including a hip actuator and a first mechanical transmission mechanism interposed between the thigh link and the hip link, a shank link connected to the thigh link through a knee joint, a knee torque generator including a knee actuator and a second mechanical transmission mechanism interposed between the thigh link and the shank link, and a controller, such as for a common motor and pump connected to the hip and knee torque generators, for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators can produce a non-zero torque.
A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is 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 wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.
A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
A semi-actuated above knee prosthetic system, which is mostly passive in nature and includes a shank link coupled to an artificial foot, a knee mechanism connected to the shank link and a thigh link attached to an above-knee remaining lower limb of an amputee, is operable in either an actuated mode or an un-actuated mode controlled by a signal processor linked to various prosthetic mounted sensors which may include combinations of knee angle, stance, thigh angle and shank angle sensors. Power is delivered through an electric motor connected to a battery source and employed to drive a hydraulic pump which is part of an overall hydraulic power unit including the torque generator. A signal processor selects a swing state from at least forward, combination forward and descent, combination forward and ascent, reverse, combination reverse and descent, and combination reverse and ascent swing states.
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.
Lifting and hoisting apparatus and installations, mechanical lifts and support equipment, namely, arms, extenders, lifts and balancers used to move, guide, lift, hold or stabilize payloads comprised of tools and cargo; support equipment, namely, arms or extenders to assist, guide, lift, hold or stabilize the human arm or hand in reaching, lifting and placement activity; their parts and fittings comprised in this class.
Mechanical lifts and support equipment, namely, arms, extenders, lifts and balancers used to move, guide, lift, hold or stabilize payloads comprised of tools and cargo; mechanical support equipment, namely, arms or extenders to assist, guide, lift, hold or stabilize the human arm or hand in reaching, lifting and placement activity
Lifting apparatus, hoisting apparatus, cranes; their parts and fittings comprised in this class; arms, extenders, lifts, balancers or hoists used to move, guide, lift, hold or stabilize payloads such as tools and cargo; support equipment, namely, arms or extenders to assist, guide, lift, hold or stabilize the human arm or hand in reaching, lifting and placement activities.
