Robotic System for Simulating a Wearable Device and Method of Use

• US 20130158444A1
• Filed: 12/20/2012
• Published: 06/20/2013
• Est. Priority Date: 12/20/2011
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Herr, Hugh M., Kuan, Jiun-Yih
• Granted Patent: US 9,498,401 B2
• Time in Patent Office: Days
• US Class Current: 601/23
• CPC Class Codes: A61H 1/0255 Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane A61H1/0214 takes precedence
• CPC Class Codes: A61H 1/0262 Walking movement; Appliances for aiding disabled persons to walk A61H3/00 takes precedence
• CPC Class Codes: A61H 1/0266 Foot
• CPC Class Codes: A61H 1/0277 Elbow
• CPC Class Codes: A61H 1/0281 Shoulder
• CPC Class Codes: A61H 1/0285 Hand
• CPC Class Codes: A61H 1/0288 Fingers
• CPC Class Codes: A61H 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1676 Pivoting
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5064 Position sensors
• CPC Class Codes: A61H 2201/5071 Pressure sensors
• CPC Class Codes: A61H 2230/06 Heartbeat rate
• CPC Class Codes: A61H 2230/50 Temperature
• CPC Class Codes: A61H 2230/60 Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
• 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: A63B 21/00178 for active exercising, the apparatus being also usable for passive exercising
• CPC Class Codes: A63B 21/00181 comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
• CPC Class Codes: A63B 21/008 : using hydraulic or pneumatic force-resisters
• CPC Class Codes: A63B 21/4011 : to the lower limbs means for physically limiting movements of body parts A63B69/0057
• CPC Class Codes: A63B 21/4025 : Resistance devices worn on the user's body A63B21/065 takes precedence
• CPC Class Codes: A63B 21/4047 : Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 22/0235 : driven by a motor
• CPC Class Codes: A63B 2220/10 : Positions
• CPC Class Codes: A63B 2220/51 : Force
• CPC Class Codes: A63B 2220/56 : Pressure
• CPC Class Codes: A63B 2220/803 : Motion sensors
• CPC Class Codes: A63B 2220/805 : Optical or opto-electronic sensors
• CPC Class Codes: A63B 2230/06 : heartbeat rate only
• CPC Class Codes: A63B 2230/50 : temperature
• CPC Class Codes: A63B 2230/60 : muscle strain, i.e. measured on the user
• CPC Class Codes: A63B 23/03508 : For a single arm or leg, A63B21/0726 takes precedence
• CPC Class Codes: A63B 23/03541 : Moving independently from each other A63B22/00 takes precedence
• CPC Class Codes: A63B 23/047 : Walking and pulling or pushing a load for exercising the player ability for rugby or American football A63B69/34
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure

Abstract

A robotic system for simulating a wearable device actuation delivery mechanism and the source removed from the actuation delivery mechanism that is linked to the actuation delivery mechanism by at least one cable. A sensing system detects a physiological feature of the subject and, based on feedback from the sensing system, a control system linked to both the sensing system and the actuation source modulates the actuation source, and thereby modulating actuation of the joint of a subject in response to the physiological future sensed by the sensing system. A method for simulating a wearable robotic system employs the robotic system of the invention to thereby provide a model on which to base design of an ambulatory prosthetic for a subject.

Claims

1. A robotic system for simulating a wearable device, comprising:

a) an actuation delivery mechanism suitable for fitting to a subject and capable of delivering force to a prosthesis or physiological joint of the subject;

b) an actuation source remote from the actuation delivery mechanism;

c) at least one cable linking the actuation source to the actuation delivery mechanism, whereby force can be transmitted between the actuation source and the actuation delivery mechanism;

d) a sensing system that detects a physiological feature of the subject; and

e) a control system linked to the sensing system and the actuation source, whereby the control system modulates the actuation source and thereby modulates actuation of the prosthesis or physiological joint in response to the physiological feature sensed by the sensing system.

2. The robotic system of claim 1, wherein the actuation source is configured to deliver force to the actuation delivery mechanism.

3. The robotic system of claim 2, wherein the actuation delivery mechanism includes first and second parts that are linked by a drum, whereby actuation of the actuation delivery mechanism causes rotation of the first part relative to the second part about an axis of rotation, the actuation delivery mechanism thereby responding to delivery of force from the actuation source by rotating a joint of the subject when fitted to the subject.

4. The robotic system of claim 3, wherein the actuation delivery mechanism includes a sensor selected from the group consisting of a torque sensor, an angle sensor and a position sensor.

5. The robotic system of claim 4, wherein the actuation delivery mechanism includes at least one hinge having an axis of rotation that is essentially transverse to the axis of rotation of the joint, whereby the delivery mechanism will cause the joint to rotate essentially coaxially with the axis of rotation of the joint of the subject.

6. The robotic system of claim 5, wherein the actuation delivery mechanism further includes at least one strain gauge, whereby force exerted in the plane of rotation of the joint of the subject can be measured.

7. The robotic system of claim 6, wherein the at least one actuation delivery mechanism is configured to rotate a joint of the subject selected from the group consisting of an ankle joint, a knee joint and a hip joint.

8. The robotic system of claim 1, wherein the system includes at least two actuation delivery mechanisms and at least two actuation sources, wherein each actuation delivery mechanism is linked to one of the actuation sources, and wherein the control system modulates the actuation of each actuation delivery mechanism by each corresponding actuation source relative to the actuation of the other actuation delivery mechanism.

9. The robotic system of claim 1, wherein the actuation source is mounted on a support independent of the subject.

10. The robotic system of claim 1, wherein the sensing system includes at least one member selected from the group consisting of at least one pressure sensor, temperature sensor, motion sensor, positioning locator, heart rate sensor, and muscle electromyography sensor and a camera.

11. The robotic system of claim 1, further including a stand on which the actuation source is mounted, the stand including a treadmill on which the subject can walk in place.

12. The robotic system of claim 11, wherein the treadmill includes pressure sensors for detecting the footsteps of the subject on the treadmill.

13. The robotic system of claim 12, wherein the pressure sensors detect at least one of force, pace and gait of footsteps of the subject.

14. The robotic system of claim 6, wherein the actuation delivery mechanism is configured to rotate a joint of the subject selected from the group consisting of a shoulder joint, an elbow joint, a wrist joint, a finger joint and a shoulder joint.

15. The robotic system of claim 1, further including an exoskeletal component that structurally supports and links at least two actuation delivery mechanisms of the device.

16. The robotic system of claim 2, wherein the actuation delivery mechanism includes first and second parts that are linked telescopically, whereby actuation of the actuation delivery mechanism causes relative movement along major longitudinal axes of the first and second parts, said major longitudinal axes being substantially parallel with each other, at least one of the first and second parts including a pivot mount at one extreme end of the actuation delivery mechanism, whereby mounting the actuation delivery mechanism to a subject at the pivot mount and at the other extreme end of the actuation delivery mechanism, causes a joint of the subject between the extreme ends of the actuation delivery mechanism to rotate upon actuation of the actuation delivery mechanism.

17. The robotic system of claim 16, wherein the actuation delivery mechanism includes two pivot mounts, wherein each extreme end of the actuation delivery mechanism includes a pivot mount.

18. The robotic system of claim 17, wherein the pivot mounts have axes of rotation that are substantially parallel.

19. The robotic system of claim 17, wherein the pivot mounts have axes of rotation that are transverse.

20. The robotic system of claim 16, wherein the actuation delivery mechanism includes a position sensor to indicate the relative positions of the first and second parts.

21. The robotic system of claim 16, wherein the actuation delivery mechanism includes a rotary drum mounted to the first part, and to which the cable is linked, the cable also being linked to the second part, whereby actuation of the actuation delivery mechanism causes the drum to rotate, thereby changing the distance between the drum and linkage of the cable to the second part and moving the first part relative to the second part along substantially parallel major longitudinal axes of the first and second parts.

22. A method for simulating a wearable robotic device, comprising the steps of:

a) fitting an actuation delivery mechanism to a subject, the actuation delivery mechanism being capable of delivering force to a prosthetic or physiological joint of the subject, and linked by at least one cable to an actuation source remote from the actuation delivery mechanism, whereby force is transmitted between the actuation source and the actuation delivery mechanism;

b) sensing at least one physiological feature of the subject while the subject or the actuation source is moving the joint; and

c) modulating the actuation source to thereby modulate the actuation delivery mechanism and consequently modulating actuation of the joint in response to the physiologic feature sensed.

23. The method of claim 22, wherein force is delivered from the actuation source to the actuation delivery mechanism to thereby cause the joint to move.

24. The method of claim 23, wherein the movement of the joint is rotation of the joint.

25. The method of claim 22, wherein at least two actuation delivery mechanisms are fitted to the subject, whereby the actuation delivery mechanisms are modulated by respective remote actuation sources.

26. The method of claim 25, wherein the at least two actuation delivery mechanisms are fitted to different joints of a common limb of the subject.

27. The method of claim 25, wherein the at least two actuation delivery mechanisms are fitted to different limbs of the subject.

28. The method of claim 27, wherein the at least two actuation delivery mechanisms are fitted to corresponding joints on different limbs of the subject.

29. The method of claim 22, wherein the at least one physiological feature is sensed by at least on sensor selected from the group consisting of a pressure sensor, a temperature sensor, a motion sensor, a positioning locator, a heart rate sensor, a muscle electromyography sensor and a camera.

30. The method of claim 22, wherein the actuation source is supported independently of the subject.

31. The method of claim 22, wherein the subject is walking or running on a treadmill and the treadmill includes pressure sensors for detecting the footsteps of the subject in the treadmill, whereby information from the sensors modulates the actuation source.

32. The method of claim 31, wherein the pressure sensors detect at least one of force, pace and gait of the footsteps of the subject.

33. The method of claim 22, wherein the actuation delivery mechanism includes at least one hinge having an axis of rotation that is essentially transverse to the axis of rotation of the joint, whereby the delivery mechanism will cause the joint to rotate essentially coaxially with the axis of rotation of the joint of the subject.

34. The method of claim 33, wherein the actuation delivery mechanism is configured to rotate a joint of the subject selected from the group consisting of an ankle joint, a knee joint and a hip joint.

35. The method of claim 33, wherein the actuation delivery mechanism is configured to rotate a joint of the subject selected from the group consisting of a shoulder joint, an elbow joint, a wrist joint, a finger joint and a shoulder joint.

36. The method of claim 35, wherein the actuation delivery mechanism includes a sensor selected for the group consisting of a torque sensor, an angle sensor and a position sensor, and wherein the actuation source modulates the actuation delivery mechanism in response to the sensor.

37. The method of claim 36, wherein the actuation delivery mechanism further includes at least one strain gauge, whereby force exerted during rotation of the joint of the subject can be measured, and whereby the actuation source modulates the actuation delivery mechanism in response to the measured force.

38. The method of claim 22, wherein the actuation delivery mechanism includes first and second parts that are linked telescopically, whereby actuation of the actuation delivery mechanism causes relative movement along major longitudinal axes of the first and second parts, said major longitudinal axes being substantially parallel with each other, at least one of the first and second parts including a pivot mount at one extreme end of the actuation delivery mechanism, whereby mounting the actuation delivery mechanism to a subject at the pivot mount and at the other extreme end of the actuation delivery mechanism, causes a joint of the subject between the extreme ends of the actuation delivery mechanism to rotate upon actuation of the actuation delivery mechanism.

39. The method of claim 38, wherein the actuation delivery mechanism includes two pivot mounts, wherein each extreme end of the actuation delivery mechanism includes a pivot mount.

40. The method of claim 39, wherein the pivot mounts have axes of rotation that are substantially parallel.

41. The method of claim 39, wherein the pivot mounts have axes of rotation that are transverse.

42. The method of claim 22, wherein the actuation delivery mechanism includes a position sensor to indicate the relative positions of the first and second parts.

43. The method of claim 22, wherein the actuation delivery mechanism includes a rotary drum mounted to the first part, and to which the cable is linked, the cable also being linked to the second part, whereby actuation of the actuation delivery mechanism causes the drum to rotate, thereby changing the distance between the drum and linkage of the cable to the second part and moving the first part relative to the second part along substantially parallel major longitudinal axes of the first and second parts.