Machine to human interfaces for communication from a lower extremity orthotic

• US 10,391,016 B2
• Filed: 03/12/2014
• Issued: 08/27/2019
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.)
• Original Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.)
• Inventors: Sandler, Reuben, Amundson, Kurt, Stryker, James, Strausser, Katherine, Zoss, Adam, Swift, Tim
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US14/776,406
• Publication Number:
  US 20160045386A1
• Time in Patent Office: 1,994 Days
• CPC Class Codes: A61B 5/1124 Determining motor skills
• CPC Class Codes: A61B 5/4851 Prosthesis assessment or monitoring
• CPC Class Codes: A61B 5/6811 External prosthesis
• CPC Class Codes: A61B 5/7415 Sound rendering of measured values, e.g. by pitch or volume variation A61B5/741 takes precedence
• CPC Class Codes: A61B 5/742 using visual displays A61B5/339 takes precedence
• CPC Class Codes: A61B 5/7455 characterised by tactile indication, e.g. vibration or electrical stimulation
• CPC Class Codes: A61F 5/0102 specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
• CPC Class Codes: A61H 1/0237 for the lower limbs
• CPC Class Codes: A61H 2003/007 secured to the patient, e.g. with belts
• CPC Class Codes: A61H 2201/5058 Sensors or detectors
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5094 with patient markers
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: A61H 3/02 Crutches

Abstract

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.

Claims

1. A lower extremity orthosis configured to be coupled to a person, the orthosis comprising:

a torso link configured to be coupled to a torso of the person,

at least one leg link configured to be coupled to a leg of the person,

at least one actuator configured to shift the at least one leg link with respect to the torso link,

a plurality of sensors configured to measure at least one of an orientation and forces of the orthosis and the person,

a controller configured to receive signals from the plurality of sensors, estimate at least one feedback ready value based on signals from the plurality of sensors, and control the at least one actuator to assist a gait or movement of the person, and

at least one feedback system operated by the controller and configured to communicate the at least one feedback ready value to the person, whereby the orthosis provides the person with orthosis operational information not otherwise available to the person, wherein the at least one feedback system includes at least one of (1) at least one light corresponding to each of the at least one actuator, the at least one light indicating an effort being produced by the orthosis at that corresponding actuator, and (2) a display mounted in a field of view of the person, the display overlaying graphics so that the graphics indicate locations on a support surface.

2. The orthosis of claim 1, wherein the at least one feedback system includes the at least one light corresponding to each of the at least one actuator, the at least one light indicating a joint torque being produced by the orthosis at that corresponding actuator.

3. The orthosis of claim 1, wherein the plurality of sensors includes a force sensor located at an interface point, and the at least one feedback system includes at least one light corresponding to the interface point, the at least one light indicating a force sensed at that interface point.

4. The orthosis of claim 1, wherein the at least one feedback system includes the at least one light corresponding to each of the at least one actuator, and the at least one feedback system includes at least one laser mounted to the orthosis with at least one feedback actuator, the at least one feedback actuator controlled by the controller to point to a location on the support surface.

5. The orthosis of claim 4, further comprising at least one gait aid, wherein the controller estimates an ideal location for a next gait aid placement, and the ideal location is indicated by the at least one laser.

6. The orthosis of claim 5, further including providing an optical filter to the person such that light reflected from the at least one laser hitting the support surface is generally visible only to the person.

7. The orthosis of claim 1, wherein the at least one feedback system includes the display mounted in the field of view of the person, the display overlaying graphics so that the graphics indicate targets for gait aid or foot placement on the support surface.

8. The orthosis of claim 1, wherein the at least one feedback system includes at least one feedback actuator and a tactile contact point in contact with the person and configured to be moved by the at least one feedback actuator, and the at least one feedback actuator is controlled by the controller to convey information to the person.

9. The orthosis of claim 1, wherein the at least one feedback system includes a heat grid controlled by the controller.

10. The orthosis of claim 1, wherein the person uses at least one gait aid, and the at least one feedback system includes a vibratory actuator and is coupled to the at least one gait aid whereby the controller conveys information to the person by the vibratory actuator.

11. The orthosis of claim 1, further comprising a human to machine interface including a signaling device provided to the person, the controller configured to receive signals from the signaling device, whereby the controller incorporates the person as part of a closed loop control of the orthosis, wherein the at least one feedback system provides information to the person on a measured center of pressure, and the human to machine interface provides information to the controller on a center of pressure desired by the person, whereby the person controls motion of the orthosis.

12. A method of operating a lower extremity orthosis including a torso link configured to be coupled to a torso of a person, at least one leg link configured to be coupled to a leg of the person, at least one actuator configured to shift the at least one leg link relative to the torso link, a plurality of sensors configured to measure at least one of an orientation and forces of the orthosis or person, and a feedback system configured to communicate to the person, said method comprising:

controlling the at least one actuator to assist a gait of the person,

estimating at least one feedback ready value based on signals from the plurality of sensors, and

communicating the at least one feedback ready value to the person with the feedback system in order to provide the person with orthosis operational information not otherwise available to the person, wherein the at least one feedback system includes at least one of (1) at least one light corresponding to each of the at least one actuator, the at least one light indicating an effort being produced by the orthosis at that corresponding actuator, and (2) a display mounted in a field of view of the person, said method further comprising overlaying graphics so that the graphics indicate locations on a support surface.

13. The method of claim 12, wherein the feedback system includes the at least one light corresponding to each of the at least one actuator, said method further comprising:

indicating a joint torque being produced by the orthosis at the corresponding said actuator.

14. The method of claim 12, wherein the plurality of sensors includes a force sensor located at an interface point, and the feedback system includes at least one light corresponding to the interface point, said method further comprising:

indicating a force, sensed at the interface point, with the at least one light.

15. The method of claim 12, wherein the feedback system includes the at least one light corresponding to each of the at least one actuator, and the feedback system includes at least one laser mounted to the orthosis, said method further comprising:

pointing the at least one laser to a location on the support surface.

16. The method of claim 15, further comprising:

employing at least one gait aid, and estimating an ideal location for a next gait aid placement, and pointing the at least one laser at the ideal location.

17. The method of claim 16, further comprising:

providing an optical filter to the person such that light reflected from the at least one laser hitting the support surface is generally visible only to the person.

18. The method of claim 12, wherein the feedback system includes the display mounted in the field of view of the person, said method further comprising:

overlaying graphics so that the graphics indicate targets for gait aid or foot placement on the support surface.

19. The method of claim 12, wherein the feedback system includes at least one feedback actuator and a tactile contact point in contact with the person and configured to be moved by the at least one feedback actuator, said method further comprising:

conveying information to the person by moving the tactile contact point.

20. The method of claim 12, further comprising:

controlling a heat grid provided as part of the feedback system.

21. The method of claim 12, further comprising:

employing at least one gait aid with use of the orthosis, and

conveying information to the person by a vibratory actuator of the feedback system which is coupled to the at least one gait aid.

22. The method of claim 12, further comprising:

receiving signals from a signaling device of a human-to-machine interface,

incorporating the person as part of a closed loop control of the orthosis through the human-to-machine interface,

providing information to the person on a measured center of pressure, and

accepting a desired center of pressure desired from the person, whereby the person controls motion of the orthosis.

23. A method of controlling a lower extremity orthosis including a torso link configured to be coupled to a torso of a person, at least one leg link configured to be coupled to a leg of the person, at least one actuator configured to shift the at least one leg link with respect to the torso link, a plurality of sensors configured to monitor the orthosis, and at least one light, said method comprising:

receiving signals from the plurality of sensors and controlling the at least one actuator to assist a gait of the person, and

controlling the at least one light to continuously indicate an effort produced by the at least one actuator, whereby the orthosis provides a visual indication of assistance provided by the orthosis.

24. The method of claim 23, further comprising:

providing at least one force sensor configured to produce an estimate of a force between the person and the orthosis, and

continuously indicating the estimate of the force with the at least one light, whereby the orthosis provides a visual indication of the force applied to the person.

25. The method of claim 23, further comprising:

sensing forces produced by the at least one actuator of the orthosis; and

illuminating selective ones of the at least one light in providing a visual indication of the forces provided by the orthosis.

26. The method of claim 23, wherein controlling the at least one light includes controlling the at least one light to continuously indicate a joint torque produced by the at least one actuator.