Exoskeleton ankle robot

• US 10,426,637 B2
• Filed: 06/21/2015
• Issued: 10/01/2019
• Est. Priority Date: 05/11/2015
• Status: Active Grant

• Current Assignee: Hong Kong Polytechnic University
• Original Assignee: Hong Kong Polytechnic University
• Inventors: Tong, Kai-Yu, Yeung, Ling Fung, Ockenfeld, Corinna Ursula, Ho, Sze Kit, Wai, Hon-Wah, Pang, Man-Kit
• Primary Examiner(s): Anderson, Megan
• Application Number:
  US14/745,460
• Publication Number:
  US 20160331557A1
• Time in Patent Office: 1,563 Days
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61H 1/0266 Foot
• CPC Class Codes: A61H 2201/164 Feet or leg, e.g. pedal
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5069 Angle sensors
• CPC Class Codes: A61H 2201/5079 Velocity sensors
• CPC Class Codes: A61H 2201/5084 Acceleration sensors
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A61H 2230/625 used as a control parameter for the apparatus
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04 ; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003

Abstract

A portable electrical motor-driven exoskeleton ankle joint robot with gear transmission and control system which is intended to provide walking assistance in different speed and walking conditions to persons with disability in walking or muscle weakness or joint problem.

Claims

1. An exoskeleton ankle robotic device comprising:

a leg brace;

a foot piece pivotally coupling to said leg brace at or proximal to an ankle position;

an actuator coupling to said leg brace and said foot piece through an articulated joint, said actuator receiving power from a power source and generating a torque to drive said articulated joint to produce relative rotatory movement between said leg brace and said foot piece;

a gear transmission system coupling to said actuator and said articulated joint to transmit rotation axis of the actuator;

at least one force sensor for measuring force applied to the foot piece;

motion sensors comprising an accelerometer for measuring linear acceleration along a shank of a user and a gyroscope for measuring angular velocity of the shank of the user; and

a controller configured to;

receive the force applied to the foot piece for determining a gait phase of the user;

receive the linear acceleration and the angular velocity, both of which are measured at the gait phase;

wherein the gait phase is either a swing phase or a pre-swing phase;

compare the linear acceleration and the angular velocity with a set of predetermined thresholds to classify a walking condition of the user using a control algorithm, the set of predetermined thresholds being determined under different walking conditions; and

send a command to control said actuator for actively assisting a gait of the user under the walking condition.

2. The exoskeleton ankle robotic device of claim 1, wherein the walking condition is overground walking, uphill, downhill, stair ascend, or stair descend.

3. The exoskeleton ankle robotic device of claim 2, wherein the control algorithm classifies the walking condition as the stair ascend when the linear acceleration is lower than a linear acceleration threshold from the set of predetermined thresholds and the angular velocity is lower than an angular velocity threshold from the set of predetermined thresholds.

4. The exoskeleton ankle robotic device of claim 2, wherein the control algorithm classifies the walking condition as the stair descend when the linear acceleration is higher than a linear acceleration threshold from the set of predetermined thresholds and the angular velocity is higher than an angular velocity threshold from the set of predetermined thresholds.

5. The exoskeleton ankle robotic device of claim 2, wherein the control algorithm classifies the walking condition as the overground walking when the linear acceleration is between a first linear acceleration threshold and a second linear acceleration threshold from the set of predetermined thresholds.

6. The exoskeleton ankle robotic device of claim 1, wherein said gear transmission system comprises at least one pair of gears, said at least one pair of gears translating the axis of rotation to a location away from or proximal to said ankle position.

7. The exoskeleton ankle robotic device of claim 6, wherein said location is anterior to the shank of the user.

8. The exoskeleton ankle robotic device of claim 6, wherein said at least one pair of gears has a gear ratio, said gear ratio amplifying or diminishing a torque transmitting across said gear transmission system.

9. The exoskeleton ankle robotic device of claim 1, wherein said actuator comprises a servomotor providing torque control or position control to said articulated joint.

10. The exoskeleton ankle robotic device of claim 1, wherein said power source is a battery.

11. The exoskeleton ankle robotic device of claim 1, wherein said leg brace and said foot piece comprise rigid and lightweight materials selected from a group consisting of carbon fiber, carbon composite, light metal, and plastic.

12. The exoskeleton ankle robotic device of claim 1, wherein said controller comprises a microprocessor and a memory.

13. The exoskeleton ankle robotic device of claim 1, wherein said controller is further configured to communicate with an external computing device through a wireless communication network.

14. The exoskeleton ankle robotic device of claim 1, wherein said at least one force sensor is selected from a group consisting of a force sensitive resistor, a force transducer, and a strain gauge.

15. The exoskeleton ankle robotic device of claim 1, wherein said motion sensors further comprise an angle encoder, a potentiometer, or a flex sensor.

16. The exoskeleton ankle robotic device of claim 1, wherein the controller is further configured for determining a walking speed of the user.