EXOSKELETON FOR GAIT ASSISTANCE AND REHABILITATION

• US 20130289452A1
• Filed: 07/30/2012
• Published: 10/31/2013
• Est. Priority Date: 07/29/2011
• Status: Active Grant

• Current Assignee: Leonis Medical Corporation
• Original Assignee: Global Medical Device Partners, Inc.
• Inventors: Bhugra, Kern, Smith, Jon
• Granted Patent: US 9,545,353 B2
• Time in Patent Office: Days
• US Class Current: 601/33
• 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 2201/0107 modular
• CPC Class Codes: A61H 2201/0184 by raising an alarm
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/1445 Overrunning clutches; One-way clutches
• CPC Class Codes: A61H 2201/1628 Pelvis
• CPC Class Codes: A61H 2201/164 Feet or leg, e.g. pedal
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/501 connected to external computer devices or networks
• CPC Class Codes: A61H 2201/5023 Interfaces to the user
• CPC Class Codes: A61H 2201/5046 Touch screens
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5069 Angle sensors
• CPC Class Codes: A61H 2201/5071 Pressure sensors
• CPC Class Codes: A61H 2201/5082 Temperature sensors
• CPC Class Codes: A61H 2201/5084 Acceleration sensors
• CPC Class Codes: A61H 2201/5092 Optical sensor
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A61H 2230/00 Measuring physical parameters of the user
• CPC Class Codes: A61H 2230/06 : Heartbeat rate
• CPC Class Codes: A61H 2230/207 : partial O2-value
• 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 21/0004 : Exercising devices moving as a whole during exercise bar bells or dumb bells A63B21/072; on wheels A63B22/20
• 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 21/0058 : using motors
• CPC Class Codes: A63B 21/4009 : to the waist
• 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 2208/0204 : Standing on the feet
• CPC Class Codes: A63B 2220/16 : Angular positions
• CPC Class Codes: A63B 2220/40 : Acceleration
• CPC Class Codes: A63B 2220/51 : Force
• CPC Class Codes: A63B 2220/72 : Temperature
• CPC Class Codes: A63B 2220/805 : Optical or opto-electronic sensors
• CPC Class Codes: A63B 2220/836 : Sensors arranged on the body of the user
• CPC Class Codes: A63B 2225/20 : with means for remote communication, e.g. internet or the like
• CPC Class Codes: A63B 2225/50 : Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 2230/00 : Measuring physiological parameters of the user
• CPC Class Codes: A63B 2230/06 : heartbeat rate only
• CPC Class Codes: A63B 2230/207 : P-O2, i.e. partial O2 value
• CPC Class Codes: A63B 23/03541 : Moving independently from each other A63B22/00 takes precedence
• CPC Class Codes: A63B 23/0405 : involving a bending of the knee and hip joints simultaneously A63B23/0476 takes precedence
• CPC Class Codes: A63B 71/0622 : Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B25J 9/104 : with cables, chains or ribbons
• CPC Class Codes: G05B 2219/40305 : Exoskeleton, human robot interaction, extenders

Abstract

A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.

Claims

1. A method of operating an exoskeleton device comprising:

receiving sensor information;

connecting a clutch system to a pulley system;

determining whether to engage a drive train gear to the clutch system based on the sensor information;

engaging the drive train gear through the clutch system when determined to engage the drive train gear; and

powering a first motor to drive the drive train gear for controlling a joint or segment of the exoskeleton device.

2. The method of claim 1, wherein engaging the drive train gear includes engaging the drive train gear on a directional pawl clutch.

3. The method of claim 1, wherein determining whether to engage the drive train gear includes determining whether to assist another motor to actuate or independently actuate the joint with the first motor.

4. The method of claim 1, further comprising actuating with a servo to open or close a pawl engagement opening of the clutch system.

5. The method of claim 1, further comprising controlling an extension and flexion of the joint.

6. The method of claim 1, further comprising controlling an extension and flexion of the joint by engaging a second motor to the clutch system.

7. The method of claim 1, further comprising controlling an extension and flexion of a N number of joints by engaging the N number of motors to the clutch system.

8. The method of claim 1, further comprising controlling an extension and flexion of a N number of joints by engaging the N+1 number of motors to the clutch system.

9. An exoskeleton device for gait assistance and rehabilitation comprising:

a skeleton joint system for providing support and structure to the exoskeleton device; and

a detachable actuation system.

10. The method of claim 9, wherein the detachable actuation system includes a cam profile system to actuate a linear cam follower to actuate a cable of a pulley system.

11. The exoskeleton device of claim 9, wherein the detachable actuation system includes a planetary gear, a sun gear, a combination spur gear, or any combination thereof coupled to an actuation motor.

12. The exoskeleton device of claim 9, wherein the detachable actuation system includes a friction clutch for engaging to a pulley system.

13. The exoskeleton device of claim 9, wherein the detachable actuation system includes a selective needle bearing clutch for engaging to a pulley system.

14. The exoskeleton device of claim 9, wherein the detachable actuation system includes a multi-directional pawl-based clutch system for engaging to a pulley system.

15. The exoskeleton device of claim 9, wherein the detachable actuation system includes a gear to manipulate torque of motors to a prescribed level.

16. The exoskeleton device of claim 9, further comprising:

a textile attached to the skeleton joint system;

a pulley system configured to be engaged to the detachable actuation system; and

a sensor system attached to the skeleton joint system.

17. The exoskeleton device of claim 16, wherein the sensor system includes an embedded sensor within a joint of the skeleton joint system.

18. The exoskeleton device of claim 16, wherein the sensor system includes an embedded sensor within the textile.

19. An actuator system for an exoskeleton device comprising

a closed loop cable system attached to points on the exoskeleton device;

a pulley system connected to the close loop cable system;

a detachable motor and gear system; and

a drive shaft for engaging or disengaging the detachable motor and gear system to the pulley system.

20. The actuator system of claim 19, wherein the detachable motor and gear system includes a main drive motor and an individual drive motor both for actuating the drive shaft.

21. The actuator system of claim 20, further comprising a dual clutch system which allows the main drive motor to assist the individual drive to actuate or independently actuate the drive shaft.

22. The actuator system of claim 19, further comprising an individual drive motor for every joint in the exoskeleton device.

23. The actuator system of claim 19, wherein the detachable motor and gear system includes a clutch system for selecting one or more motors to drive the pulley system.