EXOSKELETON
1 Assignment
0 Petitions
Accused Products
Abstract
This document discloses, among other things, a wearable structure having links and joints corresponding to those of a human upper body. Transducers are located on the wearable structure and are coupled to a processor. The transducers exchange energy and information between the user and the wearable structure and enable control of the movement of the structure.
99 Citations
45 Claims
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1-25. -25. (canceled)
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26. A system, comprising:
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an upper link member coupled to a support frame at a shoulder joint; a lower link member coupled to the upper link member at an elbow joint; a hand member coupled to the lower link member at a wrist joint, wherein the upper link member and the lower link member are configured for attachment to an arm of a user and wherein a rotation axis of each of the shoulder joint, the elbow joint, and the wrist joint are aligned with corresponding axes of the user; a plurality of transducers affixed to at least one of the upper link member, the lower link member, and the hand member; an actuator coupled to at least one of the upper link member, the lower link member and the hand member, wherein the actuator is configured to control at least one of position and velocity of the at least one member relative to the support frame, and wherein the actuator comprises at least one pulley-cable pair; and a controller configured to execute instructions stored in a memory to control the actuator based on a signal received from at least— one transducer of the plurality of transducers; and one bio-sensor capable of sensing bio-signals involved in the movement of the joint. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34)
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35. A method, comprising:
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coupling an exoskeleton having a plurality of exoskeleton links and a plurality of exoskeleton joints with a user, the plurality of exoskeleton links corresponding to an upper limb of the user and each of the plurality of exoskeleton joints corresponding to an anatomical joint of the upper limb of the user, and wherein the axis of each joint of the exoskeleton is at least partially aligned with a corresponding anatomical joint of the user; receiving a feedback signal from at least one of— a sensor coupled to the user; and a force/torque sensor; and executing an algorithm to determine a torque for at least one exoskeleton joint based, at least in part, on the feedback signal; and applying the torque to the least one exoskeleton joint using at least one pulley-cable pair. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42)
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43. A method, comprising:
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generating an image of a scene; receiving information from a transducer of a wearable exoskeleton, wherein the wearable exoskeleton includes a plurality of links, each link having an articulating joint, and wherein each joint is aligned with an axis of an anatomical joint of a user, the information corresponding to a simulated limb interacting in the scene; and modifying performance of the simulated limb based on an element in the scene. - View Dependent Claims (44, 45)
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Specification